Method for articulating a surgical instrument

ABSTRACT

A method for operating a surgical instrument is disclosed.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 15/635,663, entitledMETHOD FOR ARTICULATING A SURGICAL INSTRUMENT, filed Jun. 28, 2017, nowU.S. Patent Application Publication No. 2019/0000465, the entiredisclosure of which is hereby incorporated by reference herein.

BACKGROUND

The present invention relates to surgical instruments and, in variousarrangements, to surgical stapling and cutting instruments and staplecartridges for use therewith that are designed to staple and cut tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 is a side elevational view of a surgical system comprising ahandle assembly and multiple interchangeable surgical tool assembliesthat may be used therewith;

FIG. 2 is an exploded assembly view of portions of the handle assemblyand one of the interchangeable surgical tool assemblies depicted in FIG.1;

FIG. 3 is a perspective view of one of the interchangeable surgical toolassemblies depicted in FIG. 1;

FIG. 4 is an exploded assembly view of the interchangeable surgical toolassembly of FIG. 3;

FIG. 5 is another exploded assembly view of a distal portion of theinterchangeable surgical tool assembly of FIGS. 3 and 4;

FIG. 6 is another exploded assembly view of a distal portion of theinterchangeable surgical tool assembly of FIGS. 3-5;

FIG. 7 is an exploded assembly view of a proximal portion of theinterchangeable surgical tool assembly of FIGS. 3-6;

FIG. 8 is another exploded assembly view of a portion of theinterchangeable surgical tool assembly of FIGS. 3-7;

FIG. 9 is another exploded assembly view of a portion of theinterchangeable surgical tool assembly of FIGS. 3-8;

FIG. 10 is a perspective view of a proximal portion of theinterchangeable surgical tool assembly of FIGS. 3-9;

FIG. 11 is another perspective view of the proximal portion of theinterchangeable surgical tool assembly of FIGS. 3-10;

FIG. 12 is a cross-sectional perspective view of the proximal portion ofthe interchangeable surgical tool assembly of FIGS. 3-11;

FIG. 13 is another cross-sectional perspective view of the proximalportion of the interchangeable surgical tool assembly of FIGS. 3-12;

FIG. 14 is another cross-sectional perspective view of the proximalportion of the interchangeable surgical tool assembly of FIGS. 3-13;

FIG. 15 is a cross-sectional perspective view of a distal portion of theinterchangeable surgical tool assembly of FIGS. 3-14;

FIG. 16 is a perspective view of another one of the interchangeablesurgical tool assemblies depicted in FIG. 1;

FIG. 17 is an exploded assembly view of a proximal portion of theinterchangeable surgical tool assembly of FIG. 16;

FIG. 18 is another exploded assembly view of a distal portion of theinterchangeable surgical tool assembly of FIGS. 16 and 17;

FIG. 19 is a perspective view of another one of the interchangeablesurgical tool assemblies depicted in FIG. 1;

FIG. 20 is an exploded assembly view of a proximal portion of theinterchangeable surgical tool assembly of FIG. 19;

FIG. 21 is another exploded assembly view of a distal portion of theinterchangeable surgical tool assembly of FIGS. 19 and 20;

FIG. 22 is a perspective view of another one of the interchangeablesurgical tool assemblies depicted in FIG. 1;

FIG. 23 is an exploded assembly view of a proximal portion of theinterchangeable surgical tool assembly of FIG. 22;

FIG. 24 is another exploded assembly view of a distal portion of theinterchangeable surgical tool assembly of FIGS. 22 and 23;

FIG. 25 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 3 with the anvil thereofin a fully closed position;

FIG. 26 is an enlarged side elevational view of the anvil mountingportion and elongate channel of the interchangeable surgical toolassembly of FIG. 25;

FIG. 27 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 16 with the anvil thereofin a fully closed position;

FIG. 28 is an enlarged side elevational view of the anvil mountingportion and elongate channel of the interchangeable surgical toolassembly of FIG. 27;

FIG. 29 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 19 with the anvil thereofin a fully closed position;

FIG. 30 is an enlarged side elevational view of the anvil mountingportion and elongate channel of the interchangeable surgical toolassembly of FIG. 29;

FIG. 31 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 22 with the anvil thereofin a fully closed position;

FIG. 32 is an enlarged side elevational view of the anvil mountingportion and elongate channel of the interchangeable surgical toolassembly of FIG. 31;

FIG. 33 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 3 with the anvil thereofin a fully open position;

FIG. 34 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 16 with the anvil thereofin a fully open position;

FIG. 35 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 19 with the anvil thereofin a fully open position;

FIG. 36 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 22 with the anvil thereofin a fully open position;

FIG. 37 is a side elevational view of a distal portion of anotherinterchangeable surgical tool assembly with the anvil thereof shown inone open position in solid lines and another open position in phantomlines;

FIG. 38 is a side elevational view of a distal portion of anotherinterchangeable surgical tool assembly with the anvil thereof in an openposition;

FIG. 39 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 3 with the anvil thereofin a fully open position;

FIG. 40 is an enlarged side elevational view of the anvil mountingportion and elongate channel of the interchangeable surgical toolassembly of FIG. 39;

FIG. 41 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIGS. 39 and 40 with the anvilthereof in a fully closed position;

FIG. 42 is an enlarged side elevational view of the anvil mountingportion and elongate channel of the interchangeable surgical toolassembly of FIG. 16 with the anvil thereof in a fully open position;

FIG. 43 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 42 with the anvil thereofin a fully closed position;

FIG. 44 is an enlarged side elevational view of the anvil mountingportion and elongate channel of the interchangeable surgical toolassembly of FIG. 19 with the anvil thereof in a fully open position;

FIG. 45 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 44 with the anvil thereofin a fully closed position;

FIG. 46 is an enlarged side elevational view of the anvil mountingportion and elongate channel of the interchangeable surgical toolassembly of FIG. 22 with the anvil thereof in a fully open position;

FIG. 47 is a side elevational view of a distal portion of theinterchangeable surgical tool assembly of FIG. 46 with the anvil thereofin a fully closed position;

FIG. 48 is a partial cross-sectional view of the anvil mounting portionand elongate channel of the interchangeable surgical tool assembly ofFIG. 3 with the anvil in a fully open position;

FIG. 49 is a partial cross-sectional view of the anvil mounting portionand elongate channel of the interchangeable surgical tool assembly ofFIG. 16 with the anvil in a fully open position;

FIG. 50 is a partial cross-sectional view of the anvil mounting portionand elongate channel of the interchangeable surgical tool assembly ofFIG. 19 with the anvil in a fully open position;

FIG. 51 is a partial cross-sectional view of the anvil mounting portionand elongate channel of the interchangeable surgical tool assembly ofFIG. 22 with the anvil in a fully open position;

FIG. 52 is another partial cross-sectional view of a portion of theinterchangeable surgical tool assembly of FIG. 3 with the anvil of thesurgical end effector thereof in a fully open position;

FIG. 53 is another partial cross-sectional view of a portion of theinterchangeable surgical tool assembly of FIG. 52 with the anvil in afully closed position;

FIG. 54 is another partial cross-sectional view of a portion of theinterchangeable surgical tool assembly of FIG. 16 wherein the anvil isin a fully open position;

FIG. 55 is another partial cross-sectional view of a portion of theinterchangeable surgical tool assembly of FIG. 19 wherein the anvil isin a fully open position;

FIG. 56 is another partial cross-sectional view of a portion of theinterchangeable surgical tool assembly of FIG. 22 wherein the anvil isin a fully open position;

FIG. 57 is another partial cross-sectional view of a portion of theinterchangeable surgical tool assembly of FIG. 3 wherein the firingmember thereof is in a starting position;

FIG. 58 is a side elevational view of the surgical end effector of FIG.57 with the anvil in a fully closed position;

FIG. 59 is another partial cross-sectional view of the portion of thesurgical end effector of FIGS. 57 and 58 wherein the firing member is ininitial engagement with the anvil thereof;

FIG. 60 is another partial cross-sectional view of the surgical endeffector of FIGS. 57 and 58 after the firing member thereof has beendistally advanced during the firing process;

FIG. 60A is a perspective view of a portion of a firing member assemblyof surgical stapling instrument that includes a first firing memberelement and a second firing member element that is movable relative tothe first firing member element between a locked and an unlockedposition;

FIG. 60B is another perspective view of the firing member assembly ofFIG. 60A with the second firing member element in the locked position;

FIG. 60C is a cross-sectional elevational view of the surgical staplinginstrument of FIG. 60A with the firing member assembly in a startingposition;

FIG. 60D is another cross-sectional view of the surgical staplinginstrument of FIG. 60C illustrated in a locked out configuration;

FIG. 60E is a side view of a firing member assembly with the secondfiring member element in a lockout orientation;

FIG. 60F is another side view of the firing member assembly of FIG. 60Ewith the second firing member element illustrated in an unlocked orfiring orientation;

FIG. 60G is another partial perspective view of the surgical staplinginstrument of FIG. 60A illustrated in an unlocked configuration;

FIG. 60H is a cross-sectional view of the surgical stapling instrumentof FIG. 60A with an unfired surgical fastener cartridge operablysupported in an elongate channel thereof and with the firing memberassembly illustrated in a starting position;

FIG. 60I is another cross-sectional view of the surgical staplinginstrument of FIG. 60H with the firing member assembly illustrated in apartially-fired configuration;

FIG. 61 is another side elevational view of the surgical end effector ofFIGS. 57-60 with the anvil in an over closed position;

FIG. 62 is a partial side elevational view of the surgical end effectorof the interchangeable surgical tool assembly of FIG. 3 in a fully openposition with the distal closure tube segment shown in phantom toillustrate the anvil retaining member;

FIG. 63 is another partial side elevational view of the surgical endeffector of FIG. 62 with the anvil in a fully closed position;

FIG. 64 is a partial perspective view of a distal closure tube segmentof the interchangeable surgical tool assembly of FIG. 3 with the anvilin a fully closed position;

FIG. 65 is a top plan view of the distal closure tube segment and anvilof FIG. 64;

FIG. 66 is a partial cross-sectional view of the anvil and distalclosure tube segment of FIGS. 64 and 65 illustrating the position of aproximal jaw opening feature when the anvil is in a fully closedposition;

FIG. 67 is another partial cross-sectional view of a portion of theanvil and distal closure tube segment of FIGS. 64-66 illustrating theposition of the proximal jaw opening feature when the anvil is betweenthe fully open and fully closed positions;

FIG. 68 is another partial cross-sectional view of a portion of theanvil and distal closure tube segment of FIGS. 64-67 illustrating theposition of the proximal jaw opening feature when the anvil is in thefully open position;

FIG. 69 is a partial cross-sectional view of the anvil and distalclosure tube segment of FIGS. 64-68 illustrating the position of adistal jaw opening feature when the anvil is in a fully closed position;

FIG. 70 is a partial cross-sectional view of the anvil and distalclosure tube segment of FIGS. 64-69 illustrating the position of thedistal jaw opening feature when the anvil is between the fully open andfully closed positions;

FIG. 71 is another partial cross-sectional view of a portion of theanvil and distal closure tube segment of FIGS. 64-70 illustrating theposition of the distal jaw opening feature when the anvil is in thefully open position;

FIG. 72 is a partial left side perspective view of the anvil and distalclosure tube segment of FIGS. 64-71 with the anvil in a fully closedposition;

FIG. 73 is a partial right side perspective view of the anvil and distalclosure tube segment of FIGS. 64-72 with the anvil in a fully closedposition;

FIG. 74 is a partial left side perspective view of the anvil and distalclosure tube segment of FIGS. 64-73 with the anvil in a partially openposition;

FIG. 75 is a partial right side perspective view of the anvil and distalclosure tube segment of FIGS. 64-74 with the anvil in a partially openposition;

FIG. 76 is a partial left side perspective view of the anvil and distalclosure tube segment of FIGS. 64-75 with the anvil in a fully openposition;

FIG. 77 is a partial right side perspective view of the anvil and distalclosure tube segment of FIGS. 64-76 with the anvil in a fully openposition;

FIG. 78 is a graphical comparison between the jaw aperture angle andretraction of the distal closure tube segment of FIGS. 64-77;

FIG. 79 is a partial plan view of an end effector of a surgicalinstrument in accordance with at least one embodiment;

FIG. 79A is a partial plan view of the end effector of FIG. 79illustrating the end effector articulated in a first direction;

FIG. 79B is a partial plan view of the end effector of FIG. 79illustrating the end effector articulated in a second direction;

FIG. 80 is a partial plan view of an end effector of a surgicalinstrument in accordance with at least one embodiment;

FIG. 80A is a partial plan view of the end effector of FIG. 80illustrating the end effector articulated in a first direction;

FIG. 80B is a partial plan view of the end effector of FIG. 80illustrating the end effector articulated in a second direction;

FIG. 81 is a partial plan view of the end effector of FIG. 79;

FIG. 82 is a partial plan view of the end effector of FIG. 80;

FIG. 83 is a partial plan view of the end effector of FIG. 79 in anarticulated position;

FIG. 84 is a partial plan view of the end effector of FIG. 80 in anarticulated position;

FIG. 85 is a schematic illustrating an articulation range of the endeffector of FIG. 79;

FIG. 86 is a schematic illustrating an articulation range of the endeffector of FIG. 80;

FIG. 87 is a partial perspective view of the end effector of FIG. 80illustrated with some components removed;

FIG. 88 is a partial plan view of the end effector of FIG. 80illustrated with some components removed;

FIG. 89 is a partial plan view of the end effector of FIG. 80illustrated in an open, unarticulated configuration;

FIG. 89A is a partial plan view of the end effector of FIG. 80illustrated in an open, fully-right articulated configuration;

FIG. 89B is a partial plan view of the end effector of FIG. 80illustrated in an open, fully-left articulated configuration;

FIG. 90 is a partial plan view of the end effector of FIG. 80illustrated in a closed, unarticulated configuration;

FIG. 90A is a partial plan view of the end effector of FIG. 80illustrated in a closed, fully-right articulated configuration;

FIG. 90B is a partial plan view of the end effector of FIG. 80illustrated in a closed, fully-left articulated configuration;

FIG. 91 is a partial plan view of the end effector of FIG. 80illustrated in an unarticulated configuration;

FIG. 92 is a partial plan view of the end effector of FIG. 80illustrated in an articulated configuration;

FIG. 93 is a partial plan view of the end effector of FIG. 80illustrated in an unarticulated configuration;

FIG. 93A is a partial plan view of the end effector of FIG. 80illustrated in a fully-right articulated configuration;

FIG. 93B is a partial plan view of the end effector of FIG. 80illustrated in a fully-left articulated configuration;

FIG. 94 is a partial plan view of the end effector of FIG. 80illustrated in an unarticulated configuration;

FIG. 94A is a partial plan view of the end effector of FIG. 80illustrated in a fully-right articulated configuration;

FIG. 94B is a partial plan view of the end effector of FIG. 80illustrated in a fully-left articulated configuration;

FIG. 95 is a partial perspective view of an end effector in accordancewith at least one embodiment;

FIG. 96 is a partial plan view of the end effector of FIG. 95;

FIG. 97 is a cross-sectional view of the end effector of FIG. 95illustrated in an unarticulated configuration;

FIG. 97A is a cross-sectional view of the end effector of FIG. 95illustrated in an articulated configuration;

FIG. 97B is a cross-sectional view of the end effector of FIG. 95illustrated in an articulated configuration;

FIG. 98 is a partial perspective view of an end effector in accordancewith at least one embodiment;

FIG. 99 is a partial perspective view of the end effector of FIG. 98illustrated with some components removed;

FIG. 100 is a partial plan view of the end effector of FIG. 98illustrated with some components removed;

FIG. 101 is a partial elevational view of the end effector of FIG. 98illustrated with some components removed;

FIG. 102 is a cross-sectional view of the end effector of FIG. 98illustrated in an unarticulated configuration;

FIG. 102A is a cross-sectional view of the end effector of FIG. 98illustrated in an articulated configuration;

FIG. 102B is a cross-sectional view of the end effector of FIG. 98illustrated in an articulated configuration;

FIG. 103 is a partial cross-sectional view of an end effector comprisingan articulation system including an articulation lock in accordance withat least one embodiment;

FIG. 104 is a partial exploded view of the end effector of FIG. 103;

FIG. 105 is a cross-sectional end view of the end effector of FIG. 103;

FIG. 106 is a partial cross-sectional view of the end effector of FIG.103 illustrating the articulation lock in an engaged condition;

FIG. 107 is a partial cross-sectional view of the end effector of FIG.103 illustrating the articulation lock in an unlocked condition;

FIG. 108 is a partial cross-sectional view of the end effector of FIG.103 illustrating the articulation lock in a locked condition;

FIG. 109 is a partial cross-sectional view of an end effector includinga slidable lock plate in accordance with at least one embodiment;

FIG. 110 is a partial cross-sectional view of another end effectorincluding a slidable lock plate in accordance with at least oneembodiment;

FIG. 111 is a partial cross-sectional view of the end effector of FIG.110 illustrating self-adjustability of the lock plate;

FIG. 112 is a partial cross-sectional view of the end effector of FIG.110 in a locked condition;

FIG. 113 is a partial cross-sectional view of an end effector includinganother slidable lock plate in accordance with at least one embodiment;

FIG. 114 is a partial cross-sectional view of the end effector of FIG.113 illustrated in a locked condition;

FIG. 115 is a partial cross-sectional view of the end effector of FIG.113 illustrated in another locked condition;

FIG. 116 is a partial cross-sectional view of an end effector comprisingan articulation system and an articulation lock in accordance with atleast one embodiment illustrated with some components removed;

FIG. 116A is a partial cross-sectional view of the end effector of FIG.116 articulated in a first direction;

FIG. 116B is a partial cross-sectional view of the end effector of FIG.116 articulated in a second direction;

FIG. 117 is a partial cross-sectional view of the end effector of FIG.116 in an unlocked condition;

FIG. 118 is a partial cross-sectional view of the end effector of FIG.116 in a partially-locked condition;

FIG. 119 is a partial cross-sectional view of the end effector of FIG.116 in a locked condition;

FIG. 120 is a chart illustrating the gradual locking of the end effectorof FIG. 116;

FIG. 121 is a partial cross-sectional view of an end effector comprisingan articulation system and an articulation lock in accordance with atleast one embodiment illustrated with some components removed;

FIG. 122 is a partial cross-sectional view of the end effector of FIG.121 illustrated in a partially-locked condition;

FIG. 123 is a partial cross-sectional view of the end effector of FIG.121 in a locked condition;

FIG. 124 is a partial cross-sectional view of an end effector comprisingan articulation system and an articulation lock in accordance with atleast one embodiment illustrated with some components removed;

FIG. 125 is a partial cross-sectional view of the end effector of FIG.124 illustrating the articulation lock being moved toward thearticulation system;

FIG. 126 is a partial cross-sectional view of the end effector of FIG.124 illustrating the articulation lock engaged with the articulationsystem;

FIG. 127 is a partial cross-sectional view of the end effector of FIG.124 illustrating the articulation lock in a locked condition;

FIG. 128 is another partial cross-sectional view of the end effector ofFIG. 124 illustrating the articulation lock in its locked condition;

FIG. 129 is a partial cross-sectional view of an end effector comprisingan articulation system and an articulation lock in accordance with atleast one embodiment illustrated with some components removed;

FIG. 130 is a partial cross-sectional view of the end effector of FIG.129 illustrating the articulation lock engaged with the articulationsystem;

FIG. 131 is a partial cross-sectional view of the end effector of FIG.129 illustrating the articulation lock in a locked condition;

FIG. 132 is a partial cross-sectional view of an end effector comprisingan articulation system and an articulation lock in accordance with atleast one embodiment illustrated with some components removed;

FIG. 133 is a partial cross-sectional view of the end effector of FIG.132 illustrating the articulation lock being moved toward thearticulation system;

FIG. 134 is a partial cross-sectional view of the end effector of FIG.132 illustrating the articulation lock in a locked condition;

FIG. 135 is a partial perspective view of an end effector articulationdrive system in accordance with at least one embodiment;

FIG. 136 is a plan view of the end effector articulation drive system ofFIG. 135;

FIG. 137 is an elevational view of the end effector articulation drivesystem of FIG. 135;

FIG. 138 is a partial perspective view of an end effector articulationdrive system in accordance with at least one embodiment;

FIG. 139 is a plan view of the end effector articulation drive system ofFIG. 138;

FIG. 140 is an elevational view of the end effector articulation drivesystem of FIG. 138;

FIG. 141 is a detail view of the end effector articulation drive systemof FIG. 138;

FIG. 142 is another detail view of the end effector articulation drivesystem of FIG. 138;

FIG. 143 is a perspective view of a surgical instrument in accordancewith at least one embodiment comprising a shaft and an end effector;

FIG. 144 is a perspective view of the surgical instrument in FIG. 143illustrating the end effector articulated relative to the shaft;

FIG. 145 is a perspective view of the end effector of FIG. 143 in anopen configuration;

FIG. 146 is a partial elevational view of a firing member in accordancewith at least one embodiment;

FIG. 147 is a partial cross-sectional plan view of the firing member ofFIG. 146;

FIG. 148 is a partial cross-sectional view of a distal end of a staplecartridge with a shortened nose in accordance with at least oneembodiment;

FIG. 149 is a partial cross-sectional view of a distal end of a staplecartridge with an elongate nose in accordance with at least oneembodiment;

FIG. 150 is a top view of various internal components of the staplecartridge of FIG. 148 illustrating a triple staple driver spanningacross three longitudinal rows of staple cavities positioned on top of aportion of a wedge sled;

FIG. 151 is a cross-sectional view of the triple staple driver of FIG.150 illustrating the centerline of the triple staple driver with respectto the sled;

FIG. 152 is a partial plan view of the staple cartridge of FIG. 148illustrating one side of the staple cartridge deck in cross-section andshowing the position of the sled of FIG. 151 within recesses defined inthe shortened nose of the cartridge after the completion of a firingstroke;

FIG. 153 is a partial cross-sectional view of the staple cartridge ofFIG. 148 taken along line 153-153 in FIG. 152 illustrating the positionof the sled after the completion of a firing stroke;

FIG. 154 is a diagram comparing the accessibility of end effectorscomprising the staple cartridges in FIGS. 148 and 149 during a surgicalprocedure in a pelvic cavity;

FIG. 155 is a partial perspective view of an end effector comprising thestaple cartridge of FIG. 148 and a shortened opposing anvil with aprotective tip in accordance with at least one embodiment;

FIG. 156 is a partial elevational view of the end effector of FIG. 155;

FIG. 157 is a partial plan view of one embodiment of the anvil depictedin FIG. 155 with a protective tip in an assembled configuration;

FIG. 158 is a partial cross-sectional view of the anvil depicted in FIG.157 taken along line 158-158 in FIG. 157 and illustrated in a partiallydisassembled configuration showing exemplary attachment means forremovably affixing the protective tip to the anvil;

FIG. 159 is a partial cross-sectional view of the anvil depicted in FIG.158 taken along line 159-159 in FIG. 158 and illustrated in a partiallydisassembled configuration showing the geometry of an attachment featureon the anvil for connection to corresponding geometry on the protectivetip;

FIG. 160 is a partial cross-sectional view of an additional embodimentof the anvil depicted in FIG. 155 in a partially disassembledconfiguration, illustrating a protective tip positioned within atemporary holder;

FIG. 161 is a cross-sectional view of the anvil depicted in FIG. 160taken along line 161-161 in FIG. 160 in a partially disassembledconfiguration, showing the geometry of a tip attachment feature on theanvil;

FIG. 162 is a cross-sectional view of the anvil depicted in FIG. 160taken along line 162-162 in FIG. 160 in an assembled configuration withthe temporary holder still attached;

FIG. 163 is a cross-sectional view of a trocar seal system prior to theinsertion of an end effector there through;

FIG. 164 is a cross-sectional view of the trocar seal system of FIG. 163illustrating the end effector depicted in FIG. 163 being inserted therethrough;

FIG. 165 is a cross-sectional view of the trocar seal system of FIG. 163illustrating the insertion of the end effector depicted in FIG. 163there through;

FIG. 166 is a cross-sectional view of the trocar seal system of FIG. 163illustrating an end effector comprising the shortened staple cartridgeof FIG. 148 and a shortened anvil with a protective tip being insertedthere through;

FIG. 167 is a cross-sectional view of a trocar seal system of FIG. 163prior to an end effector comprising the elongate cartridge of FIG. 149and a shortened anvil with a sharp tip being inserted there through;

FIG. 168 is a cross-sectional view of the trocar seal system of FIG. 163illustrating the end effector depicted in FIG. 167 being inserted therethrough; and

FIG. 169 is a cross-sectional view of the trocar seal system of FIG. 163illustrating the end effector depicted in FIG. 167 being inserted therethrough.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 28, 2017 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/635,693, entitled SURGICAL        INSTRUMENT COMPRISING AN OFFSET ARTICULATION JOINT, now U.S.        Patent Application Publication No. 2019/0000466;    -   U.S. patent application Ser. No. 15/635,729, entitled SURGICAL        INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO, now U.S.        Patent Application Publication No. 2019/0000467;    -   U.S. patent application Ser. No. 15/635,785, entitled SURGICAL        INSTRUMENT COMPRISING AN ARTICULATION SYSTEM RATIO, now U.S.        Patent Application Publication No. 2019/0000469;    -   U.S. patent application Ser. No. 15/635,808, entitled SURGICAL        INSTRUMENT COMPRISING FIRING MEMBER SUPPORTS, now U.S. Patent        Application Publication No. 2019/0000471;    -   U.S. patent application Ser. No. 15/635,837, entitled SURGICAL        INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A        FRAME, now U.S. Patent Application Publication No. 2019/0000472;    -   U.S. patent application Ser. No. 15/635,941, entitled SURGICAL        INSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE BY A        CLOSURE SYSTEM, now U.S. Patent Application Publication No.        2019/0000473;    -   U.S. patent application Ser. No. 15/636,029, entitled SURGICAL        INSTRUMENT COMPRISING A SHAFT INCLUDING A HOUSING ARRANGEMENT,        now U.S. Patent Application Publication No. 2019/0000477;    -   U.S. patent application Ser. No. 15/635,958, entitled SURGICAL        INSTRUMENT COMPRISING SELECTIVELY ACTUATABLE ROTATABLE COUPLERS,        now U.S. Patent Application Publication No. 2019/0000474;    -   U.S. patent application Ser. No. 15/635,981, entitled SURGICAL        STAPLING INSTRUMENTS COMPRISING SHORTENED STAPLE CARTRIDGE        NOSES, now U.S. Patent Application Publication No. 2019/0000475;    -   U.S. patent application Ser. No. 15/636,009, entitled SURGICAL        INSTRUMENT COMPRISING A SHAFT INCLUDING A CLOSURE TUBE PROFILE,        now U.S. Patent Application Publication No. 2019/0000476;    -   U.S. patent application Ser. No. 15/635,530, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTOR WITH AXIALLY        SHORTENED ARTICULATION JOINT CONFIGURATIONS, now U.S. Patent        Application Publication No. 2019/0000457;    -   U.S. patent application Ser. No. 15/635,549, entitled SURGICAL        INSTRUMENTS WITH OPEN AND CLOSABLE JAWS AND AXIALLY MOVABLE        FIRING MEMBER THAT IS INITIALLY PARKED IN CLOSE PROXIMITY TO THE        JAWS PRIOR TO FIRING, now U.S. Pat. No. 10,588,633;    -   U.S. patent application Ser. No. 15/635,559, entitled SURGICAL        INSTRUMENTS WITH JAWS CONSTRAINED TO PIVOT ABOUT AN AXIS UPON        CONTACT WITH A CLOSURE MEMBER THAT IS PARKED IN CLOSE PROXIMITY        TO THE PIVOT AXIS, now U.S. Patent Application Publication No.        2019/0000459;    -   U.S. patent application Ser. No. 15/635,578, entitled SURGICAL        END EFFECTORS WITH IMPROVED JAW APERTURE ARRANGEMENTS, now U.S.        Patent Application Publication No. 2019/0000460;    -   U.S. patent application Ser. No. 15/635,594, entitled SURGICAL        CUTTING AND FASTENING DEVICES WITH PIVOTABLE ANVIL WITH A TISSUE        LOCATING ARRANGEMENT IN CLOSE PROXIMITY TO AN ANVIL PIVOT, now        U.S. Patent Application Publication No. 2019/0000461;    -   U.S. patent application Ser. No. 15/635,612, entitled JAW        RETAINER ARRANGEMENT FOR RETAINING A PIVOTABLE SURGICAL        INSTRUMENT JAW IN PIVOTABLE RETAINING ENGAGEMENT WITH A SECOND        SURGICAL INSTRUMENT JAW, now U.S. Patent Application Publication        No. 2019/0000462;    -   U.S. patent application Ser. No. 15/635,621, entitled SURGICAL        INSTRUMENT WITH POSITIVE JAW OPENING FEATURES, now U.S. Patent        Application Publication No. 2019/0000463;    -   U.S. patent application Ser. No. 15/635,631, entitled SURGICAL        INSTRUMENT WITH AXIALLY MOVABLE CLOSURE MEMBER, now U.S. Patent        Application Publication No. 2019/0000464;    -   U.S. patent application Ser. No. 15/635,521, entitled SURGICAL        INSTRUMENT LOCKOUT ARRANGEMENT, now U.S. Patent Application        Publication No. 2019/0000456;    -   U.S. Design patent application Ser. No. 29/609,087, entitled        STAPLE FORMING ANVIL, now U.S. Design Pat. No. D851,762;    -   U.S. Design patent application Ser. No. 29/609,083, entitled        SURGICAL INSTRUMENT SHAFT, now U.S. Design Pat. No. D854,151;        and    -   U.S. Design patent application Ser. No. 29/609,093, entitled        SURGICAL FASTENER CARTRIDGE, now U.S. Design Pat. No. D869,655.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 27, 2017 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/634,024, entitled SURGICAL        ANVIL MANUFACTURING METHODS, now U.S. Patent Application        Publication No. 2018/0368839;    -   U.S. patent application Ser. No. 15/634,035, entitled SURGICAL        ANVIL ARRANGEMENTS, now U.S. Patent Application Publication No.        2018/0368840;    -   U.S. patent application Ser. No. 15/634,046, entitled SURGICAL        ANVIL ARRANGEMENTS, now U.S. Patent Application Publication No.        2018/0368841;    -   U.S. patent application Ser. No. 15/634,054, entitled SURGICAL        ANVIL ARRANGEMENTS, now U.S. Patent Application Publication No.        2018/0368842;    -   U.S. patent application Ser. No. 15/634,068, entitled SURGICAL        FIRING MEMBER ARRANGEMENTS, now U.S. Patent Application        Publication No. 2018/0368843;    -   U.S. patent application Ser. No. 15/634,076, entitled STAPLE        FORMING POCKET ARRANGEMENTS, now U.S. Patent Application        Publication No. 2018/0368844;    -   U.S. patent application Ser. No. 15/634,090 entitled STAPLE        FORMING POCKET ARRANGEMENTS, now U.S. Patent Application        Publication No. 2018/0368845;    -   U.S. patent application Ser. No. 15/634,099, entitled SURGICAL        END EFFECTORS AND ANVILS, now U.S. Patent Application        Publication No. 2018/0368846; and    -   U.S. patent application Ser. No. 15/634,117, entitled        ARTICULATION SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        10,631,859.

Applicant of the present application owns the following U.S. patentapplications that were filed on Dec. 21, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/386,185, entitled SURGICAL        STAPLING INSTRUMENTS AND REPLACEABLE TOOL ASSEMBLIES THEREOF,        now U.S. Patent Application Publication No. 2018/0168642;    -   U.S. patent application Ser. No. 15/386,230, entitled        ARTICULATABLE SURGICAL STAPLING INSTRUMENTS, now U.S. Patent        Application Publication No. 2018/0168649;    -   U.S. patent application Ser. No. 15/386,221, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS, now U.S. Patent        Application Publication No. 2018/0168646;    -   U.S. patent application Ser. No. 15/386,209, entitled SURGICAL        END EFFECTORS AND FIRING MEMBERS THEREOF, now U.S. Pat. No.        10,588,632;    -   U.S. patent application Ser. No. 15/386,198, entitled LOCKOUT        ARRANGEMENTS FOR SURGICAL END EFFECTORS AND REPLACEABLE TOOL        ASSEMBLIES, now U.S. Pat. No. 10,610,224;    -   U.S. patent application Ser. No. 15/386,240, entitled SURGICAL        END EFFECTORS AND ADAPTABLE FIRING MEMBERS THEREFOR, now U.S.        Patent Application Publication No. 2018/0168651;    -   U.S. patent application Ser. No. 15/385,939, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Patent Application Publication No.        2018/0168629;    -   U.S. patent application Ser. No. 15/385,941, entitled SURGICAL        TOOL ASSEMBLIES WITH CLUTCHING ARRANGEMENTS FOR SHIFTING BETWEEN        CLOSURE SYSTEMS WITH CLOSURE STROKE REDUCTION FEATURES AND        ARTICULATION AND FIRING SYSTEMS, now U.S. Patent Application        Publication No. 2018/0168630;    -   U.S. patent application Ser. No. 15/385,943, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent        Application Publication No. 2018/0168631;    -   U.S. patent application Ser. No. 15/385,950, entitled SURGICAL        TOOL ASSEMBLIES WITH CLOSURE STROKE REDUCTION FEATURES, now U.S.        Pat. No. 10,588,630;    -   U.S. patent application Ser. No. 15/385,945, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Patent Application Publication No.        2018/0168632;    -   U.S. patent application Ser. No. 15/385,946, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent        Application Publication No. 2018/0168633;    -   U.S. patent application Ser. No. 15/385,951, entitled SURGICAL        INSTRUMENTS WITH JAW OPENING FEATURES FOR INCREASING A JAW        OPENING DISTANCE, now U.S. Pat. No. 10,568,626;    -   U.S. patent application Ser. No. 15/385,953, entitled METHODS OF        STAPLING TISSUE, now U.S. Patent Application Publication No.        2018/0168637;    -   U.S. patent application Ser. No. 15/385,954, entitled FIRING        MEMBERS WITH NON-PARALLEL JAW ENGAGEMENT FEATURES FOR SURGICAL        END EFFECTORS, now U.S. Pat. No. 10,624,635;    -   U.S. patent application Ser. No. 15/385,955, entitled SURGICAL        END EFFECTORS WITH EXPANDABLE TISSUE STOP ARRANGEMENTS, now U.S.        Patent Application Publication No. 2018/0168639;    -   U.S. patent application Ser. No. 15/385,948, entitled SURGICAL        STAPLING INSTRUMENTS AND STAPLE-FORMING ANVILS, now U.S. Patent        Application Publication No. 2018/0168584;    -   U.S. patent application Ser. No. 15/385,956, entitled SURGICAL        INSTRUMENTS WITH POSITIVE JAW OPENING FEATURES, now U.S. Pat.        No. 10,588,631;    -   U.S. patent application Ser. No. 15/385,958, entitled SURGICAL        INSTRUMENTS WITH LOCKOUT ARRANGEMENTS FOR PREVENTING FIRING        SYSTEM ACTUATION UNLESS AN UNSPENT STAPLE CARTRIDGE IS PRESENT,        now U.S. Patent Application Publication No. 2018/0168641;    -   U.S. patent application Ser. No. 15/385,947, entitled STAPLE        CARTRIDGES AND ARRANGEMENTS OF STAPLES AND STAPLE CAVITIES        THEREIN, now U.S. Pat. No. 10,568,625;    -   U.S. patent application Ser. No. 15/385,896, entitled METHOD FOR        RESETTING A FUSE OF A SURGICAL INSTRUMENT SHAFT, now U.S. Patent        Application Publication No. 2018/0168597;    -   U.S. patent application Ser. No. 15/385,898, entitled STAPLE        FORMING POCKET ARRANGEMENT TO ACCOMMODATE DIFFERENT TYPES OF        STAPLES, now U.S. Pat. No. 10,537,325;    -   U.S. patent application Ser. No. 15/385,899, entitled SURGICAL        INSTRUMENT COMPRISING IMPROVED JAW CONTROL, now U.S. Patent        Application Publication No. 2018/0168600;    -   U.S. patent application Ser. No. 15/385,901, entitled STAPLE        CARTRIDGE AND STAPLE CARTRIDGE CHANNEL COMPRISING WINDOWS        DEFINED THEREIN, now U.S. Patent Application Publication No.        2018/0168602;    -   U.S. patent application Ser. No. 15/385,902, entitled SURGICAL        INSTRUMENT COMPRISING A CUTTING MEMBER, now U.S. Patent        Application Publication No. 2018/0168603;    -   U.S. patent application Ser. No. 15/385,904, entitled STAPLE        FIRING MEMBER COMPRISING A MISSING CARTRIDGE AND/OR SPENT        CARTRIDGE LOCKOUT, now U.S. Patent Application Publication No.        2018/0168605;    -   U.S. patent application Ser. No. 15/385,905, entitled FIRING        ASSEMBLY COMPRISING A LOCKOUT, now U.S. Patent Application        Publication No. 2018/0168606;    -   U.S. patent application Ser. No. 15/385,907, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN END EFFECTOR LOCKOUT AND A        FIRING ASSEMBLY LOCKOUT, now U.S. Patent Application Publication        No. 2018/0168608;    -   U.S. patent application Ser. No. 15/385,908, entitled FIRING        ASSEMBLY COMPRISING A FUSE, now U.S. Patent Application        Publication No. 2018/0168609;    -   U.S. patent application Ser. No. 15/385,909, entitled FIRING        ASSEMBLY COMPRISING A MULTIPLE FAILED-STATE FUSE, now U.S.        Patent Application Publication No. 2018/0168610;    -   U.S. patent application Ser. No. 15/385,920, entitled STAPLE        FORMING POCKET ARRANGEMENTS, now U.S. Pat. No. 10,499,914;    -   U.S. patent application Ser. No. 15/385,913, entitled ANVIL        ARRANGEMENTS FOR SURGICAL STAPLE/FASTENERS, now U.S. Patent        Application Publication No. 2018/0168614;    -   U.S. patent application Ser. No. 15/385,914, entitled METHOD OF        DEFORMING STAPLES FROM TWO DIFFERENT TYPES OF STAPLE CARTRIDGES        WITH THE SAME SURGICAL STAPLING INSTRUMENT, now U.S. Patent        Application Publication No. 2018/0168615;    -   U.S. patent application Ser. No. 15/385,893, entitled        BILATERALLY ASYMMETRIC STAPLE FORMING POCKET PAIRS, now U.S.        Patent Application Publication No. 2018/0168594;    -   U.S. patent application Ser. No. 15/385,929, entitled CLOSURE        MEMBERS WITH CAM SURFACE ARRANGEMENTS FOR SURGICAL INSTRUMENTS        WITH SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now U.S.        Patent Application Publication No. 2018/0168626;    -   U.S. patent application Ser. No. 15/385,911, entitled SURGICAL        STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND        FIRING SYSTEMS, now U.S. Pat. No. 10,448,950;    -   U.S. patent application Ser. No. 15/385,927, entitled SURGICAL        STAPLING INSTRUMENTS WITH SMART STAPLE CARTRIDGES, now U.S.        Patent Application Publication No. 2018/0168625;    -   U.S. patent application Ser. No. 15/385,917, entitled STAPLE        CARTRIDGE COMPRISING STAPLES WITH DIFFERENT CLAMPING BREADTHS,        now U.S. Patent Application Publication No. 2018/0168617;    -   U.S. patent application Ser. No. 15/385,900, entitled STAPLE        FORMING POCKET ARRANGEMENTS COMPRISING PRIMARY SIDEWALLS AND        POCKET SIDEWALLS, now U.S. Patent Application Publication No.        2018/0168601;    -   U.S. patent application Ser. No. 15/385,931, entitled        NO-CARTRIDGE AND SPENT CARTRIDGE LOCKOUT ARRANGEMENTS FOR        SURGICAL STAPLE/FASTENERS, now U.S. Patent Application        Publication No. 2018/0168627;    -   U.S. patent application Ser. No. 15/385,915, entitled FIRING        MEMBER PIN ANGLE, now U.S. Patent Application Publication No.        2018/0168616;    -   U.S. patent application Ser. No. 15/385,897, entitled STAPLE        FORMING POCKET ARRANGEMENTS COMPRISING ZONED FORMING SURFACE        GROOVES, now U.S. Patent Application Publication No.        2018/0168598;    -   U.S. patent application Ser. No. 15/385,922, entitled SURGICAL        INSTRUMENT WITH MULTIPLE FAILURE RESPONSE MODES, now U.S. Pat.        No. 10,426,471;    -   U.S. patent application Ser. No. 15/385,924, entitled SURGICAL        INSTRUMENT WITH PRIMARY AND SAFETY PROCESSORS, now U.S. Patent        Application Publication No. 2018/0168624;    -   U.S. patent application Ser. No. 15/385,912, entitled SURGICAL        INSTRUMENTS WITH JAWS THAT ARE PIVOTABLE ABOUT A FIXED AXIS AND        INCLUDE SEPARATE AND DISTINCT CLOSURE AND FIRING SYSTEMS, now        U.S. Pat. No. 10,568,624;    -   U.S. patent application Ser. No. 15/385,910, entitled ANVIL        HAVING A KNIFE SLOT WIDTH, now U.S. Pat. No. 10,485,543;    -   U.S. patent application Ser. No. 15/385,906, entitled FIRING        MEMBER PIN CONFIGURATIONS, now U.S. Patent Application        Publication No. 2018/0168607;    -   U.S. patent application Ser. No. 15/386,188, entitled STEPPED        STAPLE CARTRIDGE WITH ASYMMETRICAL STAPLES, now U.S. Pat. No.        10,537,324;    -   U.S. patent application Ser. No. 15/386,192, entitled STEPPED        STAPLE CARTRIDGE WITH TISSUE RETENTION AND GAP SETTING FEATURES,        now U.S. Patent Application Publication No. 2018/0168643;    -   U.S. patent application Ser. No. 15/386,206, entitled STAPLE        CARTRIDGE WITH DEFORMABLE DRIVER RETENTION FEATURES, now U.S.        Patent Application Publication No. 2018/0168586;    -   U.S. patent application Ser. No. 15/386,226, entitled DURABILITY        FEATURES FOR END EFFECTORS AND FIRING ASSEMBLIES OF SURGICAL        STAPLING INSTRUMENTS, now U.S. Patent Application Publication        No. 2018/0168648;    -   U.S. patent application Ser. No. 15/386,222, entitled SURGICAL        STAPLING INSTRUMENTS HAVING END EFFECTORS WITH POSITIVE OPENING        FEATURES, now U.S. Patent Application Publication No.        2018/0168647;    -   U.S. patent application Ser. No. 15/386,236, entitled CONNECTION        PORTIONS FOR DEPOSABLE LOADING UNITS FOR SURGICAL STAPLING        INSTRUMENTS, now U.S. Patent Application Publication No.        2018/0168650;    -   U.S. patent application Ser. No. 15/385,887, entitled METHOD FOR        ATTACHING A SHAFT ASSEMBLY TO A SURGICAL INSTRUMENT AND,        ALTERNATIVELY, TO A SURGICAL ROBOT, now U.S. Patent Application        Publication No. 2018/0168589;    -   U.S. patent application Ser. No. 15/385,889, entitled SHAFT        ASSEMBLY COMPRISING A MANUALLY-OPERABLE RETRACTION SYSTEM FOR        USE WITH A MOTORIZED SURGICAL INSTRUMENT SYSTEM, now U.S. Patent        Application Publication No. 2018/0168590;    -   U.S. patent application Ser. No. 15/385,890, entitled SHAFT        ASSEMBLY COMPRISING SEPARATELY ACTUATABLE AND RETRACTABLE        SYSTEMS, now U.S. Patent Application Publication No.        2018/0168591;    -   U.S. patent application Ser. No. 15/385,891, entitled SHAFT        ASSEMBLY COMPRISING A CLUTCH CONFIGURED TO ADAPT THE OUTPUT OF A        ROTARY FIRING MEMBER TO TWO DIFFERENT SYSTEMS, now U.S. Patent        Application Publication No. 2018/0168592;    -   U.S. patent application Ser. No. 15/385,892, entitled SURGICAL        SYSTEM COMPRISING A FIRING MEMBER ROTATABLE INTO AN ARTICULATION        STATE TO ARTICULATE AN END EFFECTOR OF THE SURGICAL SYSTEM, now        U.S. Patent Application Publication No. 2018/0168593;    -   U.S. patent application Ser. No. 15/385,894, entitled SHAFT        ASSEMBLY COMPRISING A LOCKOUT, now U.S. Pat. No. 10,492,785;    -   U.S. patent application Ser. No. 15/385,895, entitled SHAFT        ASSEMBLY COMPRISING FIRST AND SECOND ARTICULATION LOCKOUTS, now        U.S. Pat. No. 10,542,982;    -   U.S. patent application Ser. No. 15/385,916, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168575;    -   U.S. patent application Ser. No. 15/385,918, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168618;    -   U.S. patent application Ser. No. 15/385,919, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168619;    -   U.S. patent application Ser. No. 15/385,921, entitled SURGICAL        STAPLE/FASTENER CARTRIDGE WITH MOVABLE CAMMING MEMBER CONFIGURED        TO DISENGAGE FIRING MEMBER LOCKOUT FEATURES, now U.S. Patent        Application Publication No. 2018/0168621;    -   U.S. patent application Ser. No. 15/385,923, entitled SURGICAL        STAPLING SYSTEMS, now U.S. Patent Application Publication No.        2018/0168623;    -   U.S. patent application Ser. No. 15/385,925, entitled JAW        ACTUATED LOCK ARRANGEMENTS FOR PREVENTING ADVANCEMENT OF A        FIRING MEMBER IN A SURGICAL END EFFECTOR UNLESS AN UNFIRED        CARTRIDGE IS INSTALLED IN THE END EFFECTOR, now U.S. Pat. No.        10,517,595;    -   U.S. patent application Ser. No. 15/385,926, entitled AXIALLY        MOVABLE CLOSURE SYSTEM ARRANGEMENTS FOR APPLYING CLOSURE MOTIONS        TO JAWS OF SURGICAL INSTRUMENTS, now U.S. Patent Application        Publication No. 2018/0168577;    -   U.S. patent application Ser. No. 15/385,928, entitled PROTECTIVE        COVER ARRANGEMENTS FOR A JOINT INTERFACE BETWEEN A MOVABLE JAW        AND ACTUATOR SHAFT OF A SURGICAL INSTRUMENT, now U.S. Patent        Application Publication No. 2018/0168578;    -   U.S. patent application Ser. No. 15/385,930, entitled SURGICAL        END EFFECTOR WITH TWO SEPARATE COOPERATING OPENING FEATURES FOR        OPENING AND CLOSING END EFFECTOR JAWS, now U.S. Patent        Application Publication No. 2018/0168579;    -   U.S. patent application Ser. No. 15/385,932, entitled        ARTICULATABLE SURGICAL END EFFECTOR WITH ASYMMETRIC SHAFT        ARRANGEMENT, now U.S. Patent Application Publication No.        2018/0168628;    -   U.S. patent application Ser. No. 15/385,933, entitled        ARTICULATABLE SURGICAL INSTRUMENT WITH INDEPENDENT PIVOTABLE        LINKAGE DISTAL OF AN ARTICULATION LOCK, now U.S. Pat. No.        10,603,036;    -   U.S. patent application Ser. No. 15/385,934, entitled        ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END EFFECTOR IN AN        ARTICULATED POSITION IN RESPONSE TO ACTUATION OF A JAW CLOSURE        SYSTEM, now U.S. Pat. No. 10,582,928;    -   U.S. patent application Ser. No. 15/385,935, entitled LATERALLY        ACTUATABLE ARTICULATION LOCK ARRANGEMENTS FOR LOCKING AN END        EFFECTOR OF A SURGICAL INSTRUMENT IN AN ARTICULATED        CONFIGURATION, now U.S. Pat. No. 10,524,789; and    -   U.S. patent application Ser. No. 15/385,936, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH ARTICULATION STROKE        AMPLIFICATION FEATURES, now U.S. Pat. No. 10,517,596.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 15/191,775, entitled STAPLE        CARTRIDGE COMPRISING WIRE STAPLES AND STAMPED STAPLES, now U.S.        Patent Application Publication No. 2017/0367695;    -   U.S. patent application Ser. No. 15/191,807, entitled STAPLING        SYSTEM FOR USE WITH WIRE STAPLES AND STAMPED STAPLES, now U.S.        Patent Application Publication No. 2017/0367696;    -   U.S. patent application Ser. No. 15/191,834, entitled STAMPED        STAPLES AND STAPLE CARTRIDGES USING THE SAME, now U.S. Pat. No.        10,542,979;    -   U.S. patent application Ser. No. 15/191,788, entitled STAPLE        CARTRIDGE COMPRISING OVERDRIVEN STAPLES, now U.S. Patent        Application Publication No. 2017/0367698; and    -   U.S. patent application Ser. No. 15/191,818, entitled STAPLE        CARTRIDGE COMPRISING OFFSET LONGITUDINAL STAPLE ROWS, now U.S.        Patent Application Publication No. 2017/0367697.

Applicant of the present application owns the following U.S. patentapplications that were filed on Jun. 24, 2016 and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. Design patent application Ser. No. 29/569,218, entitled        SURGICAL FASTENER, now U.S. Design Pat. No. D826,405;    -   U.S. Design patent application Ser. No. 29/569,227, entitled        SURGICAL FASTENER, now U.S. Design Pat. No. D822,206;    -   U.S. Design patent application Ser. No. 29/569,259, entitled        SURGICAL FASTENER CARTRIDGE, now U.S. Design Pat. No. D847,989;        and    -   U.S. Design patent application Ser. No. 29/569,264, entitled        SURGICAL FASTENER CARTRIDGE, now U.S. Design Pat. No. D850,617.

Applicant of the present application owns the following patentapplications that were filed on Apr. 1, 2016 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/089,325, entitled METHOD FOR        OPERATING A SURGICAL STAPLING SYSTEM, now U.S. Patent        Application Publication No. 2017/0281171;    -   U.S. patent application Ser. No. 15/089,321, entitled MODULAR        SURGICAL STAPLING SYSTEM COMPRISING A DISPLAY, now U.S. Pat. No.        10,271,851;    -   U.S. patent application Ser. No. 15/089,326, entitled SURGICAL        STAPLING SYSTEM COMPRISING A DISPLAY INCLUDING A RE-ORIENTABLE        DISPLAY FIELD, now U.S. Pat. No. 10,433,849;    -   U.S. patent application Ser. No. 15/089,263, entitled SURGICAL        INSTRUMENT HANDLE ASSEMBLY WITH RECONFIGURABLE GRIP PORTION, now        U.S. Pat. No. 10,307,159;    -   U.S. patent application Ser. No. 15/089,262, entitled ROTARY        POWERED SURGICAL INSTRUMENT WITH MANUALLY ACTUATABLE BAILOUT        SYSTEM, now U.S. Pat. No. 10,357,246;    -   U.S. patent application Ser. No. 15/089,277, entitled SURGICAL        CUTTING AND STAPLING END EFFECTOR WITH ANVIL CONCENTRIC DRIVE        MEMBER, now U.S. Pat. No. 10,531,874;    -   U.S. patent application Ser. No. 15/089,296, entitled        INTERCHANGEABLE SURGICAL TOOL ASSEMBLY WITH A SURGICAL END        EFFECTOR THAT IS SELECTIVELY ROTATABLE ABOUT A SHAFT AXIS, now        U.S. Pat. No. 10,413,293;    -   U.S. patent application Ser. No. 15/089,258, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SHIFTABLE TRANSMISSION, now U.S.        Pat. No. 10,342,543;    -   U.S. patent application Ser. No. 15/089,278, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO PROVIDE SELECTIVE CUTTING OF        TISSUE, now U.S. Pat. No. 10,420,552;    -   U.S. patent application Ser. No. 15/089,284, entitled SURGICAL        STAPLING SYSTEM COMPRISING A CONTOURABLE SHAFT, now U.S. Patent        Application Publication No. 2017/0281186;    -   U.S. patent application Ser. No. 15/089,295, entitled SURGICAL        STAPLING SYSTEM COMPRISING A TISSUE COMPRESSION LOCKOUT, now        U.S. Patent Application Publication No. 2017/0281187;    -   U.S. patent application Ser. No. 15/089,300, entitled SURGICAL        STAPLING SYSTEM COMPRISING AN UNCLAMPING LOCKOUT, now U.S. Pat.        No. 10,456,140;    -   U.S. patent application Ser. No. 15/089,196, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW CLOSURE LOCKOUT, now U.S. Pat.        No. 10,568,632;    -   U.S. patent application Ser. No. 15/089,203, entitled SURGICAL        STAPLING SYSTEM COMPRISING A JAW ATTACHMENT LOCKOUT, now U.S.        Pat. No. 10,542,991;    -   U.S. patent application Ser. No. 15/089,210, entitled SURGICAL        STAPLING SYSTEM COMPRISING A SPENT CARTRIDGE LOCKOUT, now U.S.        Pat. No. 10,478,190;    -   U.S. patent application Ser. No. 15/089,324, entitled SURGICAL        INSTRUMENT COMPRISING A SHIFTING MECHANISM, now U.S. Pat. No.        10,314,582;    -   U.S. patent application Ser. No. 15/089,335, entitled SURGICAL        STAPLING INSTRUMENT COMPRISING MULTIPLE LOCKOUTS, now U.S. Pat.        No. 10,485,542;    -   U.S. patent application Ser. No. 15/089,339, entitled SURGICAL        STAPLING INSTRUMENT, now U.S. Patent Application Publication No.        2017/0281173;    -   U.S. patent application Ser. No. 15/089,253, entitled SURGICAL        STAPLING SYSTEM CONFIGURED TO APPLY ANNULAR ROWS OF STAPLES        HAVING DIFFERENT HEIGHTS, now U.S. Pat. No. 10,413,297;    -   U.S. patent application Ser. No. 15/089,304, entitled SURGICAL        STAPLING SYSTEM COMPRISING A GROOVED FORMING POCKET, now U.S.        Pat. No. 10,285,705;    -   U.S. patent application Ser. No. 15/089,331, entitled ANVIL        MODIFICATION MEMBERS FOR SURGICAL STAPLE/FASTENERS, now U.S.        Pat. No. 10,376,263;    -   U.S. patent application Ser. No. 15/089,336, entitled STAPLE        CARTRIDGES WITH ATRAUMATIC FEATURES, now U.S. Patent Application        Publication No. 2017/0281164;    -   U.S. patent application Ser. No. 15/089,312, entitled CIRCULAR        STAPLING SYSTEM COMPRISING AN INCISABLE TISSUE SUPPORT, now U.S.        Patent Application Publication No. 2017/0281189;    -   U.S. patent application Ser. No. 15/089,309, entitled CIRCULAR        STAPLING SYSTEM COMPRISING ROTARY FIRING SYSTEM, now U.S. Patent        Application Publication No. 2017/0281169; and    -   U.S. patent application Ser. No. 15/089,349, entitled CIRCULAR        STAPLING SYSTEM COMPRISING LOAD CONTROL, now U.S. Patent        Application Publication No. 2017/0281174.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Dec. 31, 2015 whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/984,488, entitled MECHANISMS        FOR COMPENSATING FOR BATTERY PACK FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,292,704;    -   U.S. patent application Ser. No. 14/984,525, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,368,865; and    -   U.S. patent application Ser. No. 14/984,552, entitled SURGICAL        INSTRUMENTS WITH SEPARABLE MOTORS AND MOTOR CONTROL CIRCUITS,        now U.S. Pat. No. 10,265,068.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 9, 2016 which areeach herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/019,220, entitled SURGICAL        INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE END        EFFECTOR, now U.S. Pat. No. 10,245,029;    -   U.S. patent application Ser. No. 15/019,228, entitled SURGICAL        INSTRUMENTS WITH MULTIPLE LINK ARTICULATION ARRANGEMENTS, now        U.S. Pat. No. 10,433,837;    -   U.S. patent application Ser. No. 15/019,196, entitled SURGICAL        INSTRUMENT ARTICULATION MECHANISM WITH SLOTTED SECONDARY        CONSTRAINT, now U.S. Pat. No. 10,413,291;    -   U.S. patent application Ser. No. 15/019,206, entitled SURGICAL        INSTRUMENTS WITH AN END EFFECTOR THAT IS HIGHLY ARTICULATABLE        RELATIVE TO AN ELONGATE SHAFT ASSEMBLY, now U.S. Patent        Application Publication No. 2017/0224331;    -   U.S. patent application Ser. No. 15/019,215, entitled SURGICAL        INSTRUMENTS WITH NON-SYMMETRICAL ARTICULATION ARRANGEMENTS, now        U.S. Patent Application Publication No. 2017/0224332;    -   U.S. patent application Ser. No. 15/019,227, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH SINGLE ARTICULATION LINK        ARRANGEMENTS, now U.S. Patent Application Publication No.        2017/0224334;    -   U.S. patent application Ser. No. 15/019,235, entitled SURGICAL        INSTRUMENTS WITH TENSIONING ARRANGEMENTS FOR CABLE DRIVEN        ARTICULATION SYSTEMS, now U.S. Pat. No. 10,245,030;    -   U.S. patent application Ser. No. 15/019,230, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH OFF-AXIS FIRING BEAM        ARRANGEMENTS, now U.S. Pat. No. 10,588,625; and    -   U.S. patent application Ser. No. 15/019,245, entitled SURGICAL        INSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S.        Pat. No. 10,470,764.

Applicant of the present application also owns the U.S. patentapplications identified below which were filed on Feb. 12, 2016 whichare each herein incorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 15/043,254, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,258,331;    -   U.S. patent application Ser. No. 15/043,259, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,448,948;    -   U.S. patent application Ser. No. 15/043,275, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0231627; and    -   U.S. patent application Ser. No. 15/043,289, entitled MECHANISMS        FOR COMPENSATING FOR DRIVETRAIN FAILURE IN POWERED SURGICAL        INSTRUMENTS, now U.S. Patent Application Publication No.        2017/0231628.

Applicant of the present application owns the following patentapplications that were filed on Jun. 18, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/742,925, entitled SURGICAL        END EFFECTORS WITH POSITIVE JAW OPENING ARRANGEMENTS, now U.S.        Pat. No. 10,182,818;    -   U.S. patent application Ser. No. 14/742,941, entitled SURGICAL        END EFFECTORS WITH DUAL CAM ACTUATED JAW CLOSING FEATURES, now        U.S. Pat. No. 10,052,102;    -   U.S. patent application Ser. No. 14/742,914, entitled MOVABLE        FIRING BEAM SUPPORT ARRANGEMENTS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,405,863;    -   U.S. patent application Ser. No. 14/742,900, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH COMPOSITE FIRING BEAM        STRUCTURES WITH CENTER FIRING SUPPORT MEMBER FOR ARTICULATION        SUPPORT, now U.S. Pat. No. 10,335,149;    -   U.S. patent application Ser. No. 14/742,885, entitled DUAL        ARTICULATION DRIVE SYSTEM ARRANGEMENTS FOR ARTICULATABLE        SURGICAL INSTRUMENTS, now U.S. Pat. No. 10,368,861; and    -   U.S. patent application Ser. No. 14/742,876, entitled PUSH/PULL        ARTICULATION DRIVE SYSTEMS FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,178,992.

Applicant of the present application owns the following patentapplications that were filed on Mar. 6, 2015 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/640,746, entitled POWERED        SURGICAL INSTRUMENT, now U.S. Pat. No. 9,808,246;    -   U.S. patent application Ser. No. 14/640,795, entitled MULTIPLE        LEVEL THRESHOLDS TO MODIFY OPERATION OF POWERED SURGICAL        INSTRUMENTS, now U.S. Pat. No. 10,441,279;    -   U.S. patent application Ser. No. 14/640,832, entitled ADAPTIVE        TISSUE COMPRESSION TECHNIQUES TO ADJUST CLOSURE RATES FOR        MULTIPLE TISSUE TYPES, now U.S. Patent Application Publication        No. 2016/0256154;    -   U.S. patent application Ser. No. 14/640,935, entitled OVERLAID        MULTI SENSOR RADIO FREQUENCY (RF) ELECTRODE SYSTEM TO MEASURE        TISSUE COMPRESSION, now U.S. Pat. No. 10,548,504;    -   U.S. patent application Ser. No. 14/640,831, entitled MONITORING        SPEED CONTROL AND PRECISION INCREMENTING OF MOTOR FOR POWERED        SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,895,148;    -   U.S. patent application Ser. No. 14/640,859, entitled TIME        DEPENDENT EVALUATION OF SENSOR DATA TO DETERMINE STABILITY,        CREEP, AND VISCOELASTIC ELEMENTS OF MEASURES, now U.S. Pat. No.        10,052,044;    -   U.S. patent application Ser. No. 14/640,817, entitled        INTERACTIVE FEEDBACK SYSTEM FOR POWERED SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,924,961;    -   U.S. patent application Ser. No. 14/640,844, entitled CONTROL        TECHNIQUES AND SUB-PROCESSOR CONTAINED WITHIN MODULAR SHAFT WITH        SELECT CONTROL PROCESSING FROM HANDLE, now U.S. Pat. No.        10,045,776;    -   U.S. patent application Ser. No. 14/640,837, entitled SMART        SENSORS WITH LOCAL SIGNAL PROCESSING, now U.S. Pat. No.        9,993,248;    -   U.S. patent application Ser. No. 14/640,765, entitled SYSTEM FOR        DETECTING THE MIS-INSERTION OF A STAPLE CARTRIDGE INTO A        SURGICAL STAPLE/FASTENER, now U.S. Pat. No. 10,617,412;    -   U.S. patent application Ser. No. 14/640,799, entitled SIGNAL AND        POWER COMMUNICATION SYSTEM POSITIONED ON A ROTATABLE SHAFT, now        U.S. Pat. No. 9,901,342; and    -   U.S. patent application Ser. No. 14/640,780, entitled SURGICAL        INSTRUMENT COMPRISING A LOCKABLE BATTERY HOUSING, now U.S. Pat.        No. 10,245,033.

Applicant of the present application owns the following patentapplications that were filed on Feb. 27, 2015, and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/633,576, entitled SURGICAL        INSTRUMENT SYSTEM COMPRISING AN INSPECTION STATION, now U.S.        Pat. No. 10,045,779;    -   U.S. patent application Ser. No. 14/633,546, entitled SURGICAL        APPARATUS CONFIGURED TO ASSESS WHETHER A PERFORMANCE PARAMETER        OF THE SURGICAL APPARATUS IS WITHIN AN ACCEPTABLE PERFORMANCE        BAND, now U.S. Pat. No. 10,180,463;    -   U.S. patent application Ser. No. 14/633,560, entitled SURGICAL        CHARGING SYSTEM THAT CHARGES AND/OR CONDITIONS ONE OR MORE        BATTERIES, now U.S. Patent Application Publication No.        2016/0249910;    -   U.S. patent application Ser. No. 14/633,566, entitled CHARGING        SYSTEM THAT ENABLES EMERGENCY RESOLUTIONS FOR CHARGING A        BATTERY, now U.S. Pat. No. 10,182,816;    -   U.S. patent application Ser. No. 14/633,555, entitled SYSTEM FOR        MONITORING WHETHER A SURGICAL INSTRUMENT NEEDS TO BE SERVICED,        now U.S. Pat. No. 10,321,907;    -   U.S. patent application Ser. No. 14/633,542, entitled REINFORCED        BATTERY FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 9,931,118;    -   U.S. patent application Ser. No. 14/633,548, entitled POWER        ADAPTER FOR A SURGICAL INSTRUMENT, now U.S. Pat. No. 10,245,028;    -   U.S. patent application Ser. No. 14/633,526, entitled ADAPTABLE        SURGICAL INSTRUMENT HANDLE, now U.S. Pat. No. 9,993,258;    -   U.S. patent application Ser. No. 14/633,541, entitled MODULAR        STAPLING ASSEMBLY, now U.S. Pat. No. 10,226,250; and    -   U.S. patent application Ser. No. 14/633,562, entitled SURGICAL        APPARATUS CONFIGURED TO TRACK AN END-OF-LIFE PARAMETER, now U.S.        Pat. No. 10,159,483.

Applicant of the present application owns the following patentapplications that were filed on Dec. 18, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/574,478, entitled SURGICAL        INSTRUMENT SYSTEMS COMPRISING AN ARTICULATABLE END EFFECTOR AND        MEANS FOR ADJUSTING THE FIRING STROKE OF A FIRING MEMBER, now        U.S. Pat. No. 9,844,374;    -   U.S. patent application Ser. No. 14/574,483, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING LOCKABLE SYSTEMS, now U.S. Pat.        No. 10,188,385;    -   U.S. patent application Ser. No. 14/575,139, entitled DRIVE        ARRANGEMENTS FOR ARTICULATABLE SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,844,375;    -   U.S. patent application Ser. No. 14/575,148, entitled LOCKING        ARRANGEMENTS FOR DETACHABLE SHAFT ASSEMBLIES WITH ARTICULATABLE        SURGICAL END EFFECTORS, now U.S. Pat. No. 10,085,748;    -   U.S. patent application Ser. No. 14/575,130, entitled SURGICAL        INSTRUMENT WITH AN ANVIL THAT IS SELECTIVELY MOVABLE ABOUT A        DISCRETE NON-MOVABLE AXIS RELATIVE TO A STAPLE CARTRIDGE, now        U.S. Pat. No. 10,245,027;    -   U.S. patent application Ser. No. 14/575,143, entitled SURGICAL        INSTRUMENTS WITH IMPROVED CLOSURE ARRANGEMENTS, now U.S. Pat.        No. 10,004,501;    -   U.S. patent application Ser. No. 14/575,117, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND MOVABLE FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,943,309;    -   U.S. patent application Ser. No. 14/575,154, entitled SURGICAL        INSTRUMENTS WITH ARTICULATABLE END EFFECTORS AND IMPROVED FIRING        BEAM SUPPORT ARRANGEMENTS, now U.S. Pat. No. 9,968,355;    -   U.S. patent application Ser. No. 14/574,493, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A FLEXIBLE ARTICULATION SYSTEM,        now U.S. Pat. No. 9,987,000; and    -   U.S. patent application Ser. No. 14/574,500, entitled SURGICAL        INSTRUMENT ASSEMBLY COMPRISING A LOCKABLE ARTICULATION SYSTEM,        now U.S. Pat. No. 10,117,649.

Applicant of the present application owns the following patentapplications that were filed on Mar. 1, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/782,295, entitled        ARTICULATABLE SURGICAL INSTRUMENTS WITH CONDUCTIVE PATHWAYS FOR        SIGNAL COMMUNICATION, now U.S. Pat. No. 9,700,309;    -   U.S. patent application Ser. No. 13/782,323, entitled ROTARY        POWERED ARTICULATION JOINTS FOR SURGICAL INSTRUMENTS, now U.S.        Pat. No. 9,782,169;    -   U.S. patent application Ser. No. 13/782,338, entitled THUMBWHEEL        SWITCH ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent        Application Publication No. 2014/0249557;    -   U.S. patent application Ser. No. 13/782,499, entitled        ELECTROMECHANICAL SURGICAL DEVICE WITH SIGNAL RELAY ARRANGEMENT,        now U.S. Pat. No. 9,358,003;    -   U.S. patent application Ser. No. 13/782,460, entitled MULTIPLE        PROCESSOR MOTOR CONTROL FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,554,794;    -   U.S. patent application Ser. No. 13/782,358, entitled JOYSTICK        SWITCH ASSEMBLIES FOR SURGICAL INSTRUMENTS, now U.S. Pat. No.        9,326,767;    -   U.S. patent application Ser. No. 13/782,481, entitled SENSOR        STRAIGHTENED END EFFECTOR DURING REMOVAL THROUGH TROCAR, now        U.S. Pat. No. 9,468,438;    -   U.S. patent application Ser. No. 13/782,518, entitled CONTROL        METHODS FOR SURGICAL INSTRUMENTS WITH REMOVABLE IMPLEMENT        PORTIONS, now U.S. Patent Application Publication No.        2014/0246475;    -   U.S. patent application Ser. No. 13/782,375, entitled ROTARY        POWERED SURGICAL INSTRUMENTS WITH MULTIPLE DEGREES OF FREEDOM,        now U.S. Pat. No. 9,398,911; and    -   U.S. patent application Ser. No. 13/782,536, entitled SURGICAL        INSTRUMENT SOFT STOP, now U.S. Pat. No. 9,307,986.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 14, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 13/803,097, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE, now        U.S. Pat. No. 9,687,230;    -   U.S. patent application Ser. No. 13/803,193, entitled CONTROL        ARRANGEMENTS FOR A DRIVE MEMBER OF A SURGICAL INSTRUMENT, now        U.S. Pat. No. 9,332,987;    -   U.S. patent application Ser. No. 13/803,053, entitled        INTERCHANGEABLE SHAFT ASSEMBLIES FOR USE WITH A SURGICAL        INSTRUMENT, now U.S. Pat. No. 9,883,860    -   U.S. patent application Ser. No. 13/803,086, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING AN ARTICULATION        LOCK, now U.S. Patent Application Publication No. 2014/0263541;    -   U.S. patent application Ser. No. 13/803,210, entitled SENSOR        ARRANGEMENTS FOR ABSOLUTE POSITIONING SYSTEM FOR SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,808,244;    -   U.S. patent application Ser. No. 13/803,148, entitled        MULTI-FUNCTION MOTOR FOR A SURGICAL INSTRUMENT, now U.S. Pat.        No. 10,470,762;    -   U.S. patent application Ser. No. 13/803,066, entitled DRIVE        SYSTEM LOCKOUT ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 9,629,623;    -   U.S. patent application Ser. No. 13/803,117, entitled        ARTICULATION CONTROL SYSTEM FOR ARTICULATABLE SURGICAL        INSTRUMENTS, now U.S. Pat. No. 9,351,726;    -   U.S. patent application Ser. No. 13/803,130, entitled DRIVE        TRAIN CONTROL ARRANGEMENTS FOR MODULAR SURGICAL INSTRUMENTS, now        U.S. Pat. No. 9,351,727; and    -   U.S. patent application Ser. No. 13/803,159, entitled METHOD AND        SYSTEM FOR OPERATING A SURGICAL INSTRUMENT, now U.S. Pat. No.        9,888,919.

Applicant of the present application also owns the following patentapplication that was filed on Mar. 7, 2014 and is herein incorporated byreference in its entirety:

-   -   U.S. patent application Ser. No. 14/200,111, entitled CONTROL        SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629.

Applicant of the present application also owns the following patentapplications that were filed on Mar. 26, 2014 and are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/226,106, entitled POWER        MANAGEMENT CONTROL SYSTEMS FOR SURGICAL INSTRUMENTS, now U.S.        Patent Application Publication No. 2015/0272582;    -   U.S. patent application Ser. No. 14/226,099, entitled        STERILIZATION VERIFICATION CIRCUIT, now U.S. Pat. No. 9,826,977;    -   U.S. patent application Ser. No. 14/226,094, entitled        VERIFICATION OF NUMBER OF BATTERY EXCHANGES/PROCEDURE COUNT, now        U.S. Patent Application Publication No. 2015/0272580;    -   U.S. patent application Ser. No. 14/226,117, entitled POWER        MANAGEMENT THROUGH SLEEP OPTIONS OF SEGMENTED CIRCUIT AND WAKE        UP CONTROL, now U.S. Pat. No. 10,013,049;    -   U.S. patent application Ser. No. 14/226,075, entitled MODULAR        POWERED SURGICAL INSTRUMENT WITH DETACHABLE SHAFT ASSEMBLIES,        now U.S. Pat. No. 9,743,929;    -   U.S. patent application Ser. No. 14/226,093, entitled FEEDBACK        ALGORITHMS FOR MANUAL BAILOUT SYSTEMS FOR SURGICAL INSTRUMENTS,        now U.S. Pat. No. 10,028,761;    -   U.S. patent application Ser. No. 14/226,116, entitled SURGICAL        INSTRUMENT UTILIZING SENSOR ADAPTATION, now U.S. Patent        Application Publication No. 2015/0272571;    -   U.S. patent application Ser. No. 14/226,071, entitled SURGICAL        INSTRUMENT CONTROL CIRCUIT HAVING A SAFETY PROCESSOR, now U.S.        Pat. No. 9,690,362;    -   U.S. patent application Ser. No. 14/226,097, entitled SURGICAL        INSTRUMENT COMPRISING INTERACTIVE SYSTEMS, now U.S. Pat. No.        9,820,738;    -   U.S. patent application Ser. No. 14/226,126, entitled INTERFACE        SYSTEMS FOR USE WITH SURGICAL INSTRUMENTS, now U.S. Pat. No.        10,004,497;    -   U.S. patent application Ser. No. 14/226,133, entitled MODULAR        SURGICAL INSTRUMENT SYSTEM, now U.S. Patent Application        Publication No. 2015/0272557;    -   U.S. patent application Ser. No. 14/226,081, entitled SYSTEMS        AND METHODS FOR CONTROLLING A SEGMENTED CIRCUIT, now U.S. Pat.        No. 9,804,618;    -   U.S. patent application Ser. No. 14/226,076, entitled POWER        MANAGEMENT THROUGH SEGMENTED CIRCUIT AND VARIABLE VOLTAGE        PROTECTION, now U.S. Pat. No. 9,733,663;    -   U.S. patent application Ser. No. 14/226,111, entitled SURGICAL        STAPLING INSTRUMENT SYSTEM, now U.S. Pat. No. 9,750,499; and    -   U.S. patent application Ser. No. 14/226,125, entitled SURGICAL        INSTRUMENT COMPRISING A ROTATABLE SHAFT, now U.S. Pat. No.        10,201,364.

Applicant of the present application also owns the following patentapplications that were filed on Sep. 5, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/479,103, entitled CIRCUITRY        AND SENSORS FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        10,111,679;    -   U.S. patent application Ser. No. 14/479,119, entitled ADJUNCT        WITH INTEGRATED SENSORS TO QUANTIFY TISSUE COMPRESSION, now U.S.        Pat. No. 9,724,094;    -   U.S. patent application Ser. No. 14/478,908, entitled MONITORING        DEVICE DEGRADATION BASED ON COMPONENT EVALUATION, now U.S. Pat.        No. 9,737,301;    -   U.S. patent application Ser. No. 14/478,895, entitled MULTIPLE        SENSORS WITH ONE SENSOR AFFECTING A SECOND SENSOR'S OUTPUT OR        INTERPRETATION, now U.S. Pat. No. 9,757,128;    -   U.S. patent application Ser. No. 14/479,110, entitled POLARITY        OF HALL MAGNET TO DETECT MISLOADED CARTRIDGE, now U.S. Pat. No.        10,016,199;    -   U.S. patent application Ser. No. 14/479,098, entitled SMART        CARTRIDGE WAKE UP OPERATION AND DATA RETENTION, now U.S. Pat.        No. 10,135,242;    -   U.S. patent application Ser. No. 14/479,115, entitled MULTIPLE        MOTOR CONTROL FOR POWERED MEDICAL DEVICE, now U.S. Pat. No.        9,788,836; and    -   U.S. patent application Ser. No. 14/479,108, entitled LOCAL        DISPLAY OF TISSUE PARAMETER STABILIZATION, now U.S. Patent        Application Publication No. 2016/0066913.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 9, 2014 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. patent application Ser. No. 14/248,590, entitled MOTOR        DRIVEN SURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now        U.S. Pat. No. 9,826,976;    -   U.S. patent application Ser. No. 14/248,581, entitled SURGICAL        INSTRUMENT COMPRISING A CLOSING DRIVE AND A FIRING DRIVE        OPERATED FROM THE SAME ROTATABLE OUTPUT, now U.S. Pat. No.        9,649,110;    -   U.S. patent application Ser. No. 14/248,595, entitled SURGICAL        INSTRUMENT SHAFT INCLUDING SWITCHES FOR CONTROLLING THE        OPERATION OF THE SURGICAL INSTRUMENT, now U.S. Pat. No.        9,844,368;    -   U.S. patent application Ser. No. 14/248,588, entitled POWERED        LINEAR SURGICAL STAPLE/FASTENER, now U.S. Pat. No. 10,405,857;    -   U.S. patent application Ser. No. 14/248,591, entitled        TRANSMISSION ARRANGEMENT FOR A SURGICAL INSTRUMENT, now U.S.        Pat. No. 10,149,680;    -   U.S. patent application Ser. No. 14/248,584, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH ALIGNMENT FEATURES FOR        ALIGNING ROTARY DRIVE SHAFTS WITH SURGICAL END EFFECTOR SHAFTS,        now U.S. Pat. No. 9,801,626;    -   U.S. patent application Ser. No. 14/248,587, entitled POWERED        SURGICAL STAPLE/FASTENER, now U.S. Pat. No. 9,867,612;    -   U.S. patent application Ser. No. 14/248,586, entitled DRIVE        SYSTEM DECOUPLING ARRANGEMENT FOR A SURGICAL INSTRUMENT, now        U.S. Pat. No. 10,136,887; and    -   U.S. patent application Ser. No. 14/248,607, entitled MODULAR        MOTOR DRIVEN SURGICAL INSTRUMENTS WITH STATUS INDICATION        ARRANGEMENTS, now U.S. Pat. No. 9,814,460.

Applicant of the present application also owns the following patentapplications that were filed on Apr. 16, 2013 and which are each hereinincorporated by reference in their respective entirety:

-   -   U.S. Provisional Patent Application Ser. No. 61/812,365,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR;    -   U.S. Provisional Patent Application Ser. No. 61/812,376,        entitled LINEAR CUTTER WITH POWER;    -   U.S. Provisional Patent Application Ser. No. 61/812,382,        entitled LINEAR CUTTER WITH MOTOR AND PISTOL GRIP;    -   U.S. Provisional Patent Application Ser. No. 61/812,385,        entitled SURGICAL INSTRUMENT HANDLE WITH MULTIPLE ACTUATION        MOTORS AND MOTOR CONTROL; and    -   U.S. Provisional Patent Application Ser. No. 61/812,372,        entitled SURGICAL INSTRUMENT WITH MULTIPLE FUNCTIONS PERFORMED        BY A SINGLE MOTOR.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”) and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes” or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more features possesses those oneor more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical stapling system can comprise a shaft and an end effectorextending from the shaft. The end effector comprises a first jaw and asecond jaw. The first jaw comprises a staple cartridge. The staplecartridge is insertable into and removable from the first jaw; however,other embodiments are envisioned in which a staple cartridge is notremovable from, or at least readily replaceable from, the first jaw. Thesecond jaw comprises an anvil configured to deform staples ejected fromthe staple cartridge. The second jaw is pivotable relative to the firstjaw about a closure axis; however, other embodiments are envisioned inwhich the first jaw is pivotable relative to the second jaw. Thesurgical stapling system further comprises an articulation jointconfigured to permit the end effector to be rotated, or articulated,relative to the shaft. The end effector is rotatable about anarticulation axis extending through the articulation joint. Otherembodiments are envisioned which do not include an articulation joint.

The staple cartridge comprises a cartridge body. The cartridge bodyincludes a proximal end, a distal end, and a deck extending between theproximal end and the distal end. In use, the staple cartridge ispositioned on a first side of the tissue to be stapled and the anvil ispositioned on a second side of the tissue. The anvil is moved toward thestaple cartridge to compress and clamp the tissue against the deck.Thereafter, staples removably stored in the cartridge body can bedeployed into the tissue. The cartridge body includes staple cavitiesdefined therein wherein staples are removably stored in the staplecavities. The staple cavities are arranged in six longitudinal rows.Three rows of staple cavities are positioned on a first side of alongitudinal slot and three rows of staple cavities are positioned on asecond side of the longitudinal slot. Other arrangements of staplecavities and staples may be possible.

The staples are supported by staple drivers in the cartridge body. Thedrivers are movable between a first, or unfired position, and a second,or fired, position to eject the staples from the staple cavities. Thedrivers are retained in the cartridge body by a retainer which extendsaround the bottom of the cartridge body and includes resilient membersconfigured to grip the cartridge body and hold the retainer to thecartridge body. The drivers are movable between their unfired positionsand their fired positions by a sled. The sled is movable between aproximal position adjacent the proximal end and a distal positionadjacent the distal end. The sled comprises a plurality of rampedsurfaces configured to slide under the drivers and lift the drivers, andthe staples supported thereon, toward the anvil.

Further to the above, the sled is moved distally by a firing member. Thefiring member is configured to contact the sled and push the sled towardthe distal end. The longitudinal slot defined in the cartridge body isconfigured to receive the firing member. The anvil also includes a slotconfigured to receive the firing member. The firing member furthercomprises a first cam which engages the first jaw and a second cam whichengages the second jaw. As the firing member is advanced distally, thefirst cam and the second cam can control the distance, or tissue gap,between the deck of the staple cartridge and the anvil. The firingmember also comprises a knife configured to incise the tissue capturedintermediate the staple cartridge and the anvil. It is desirable for theknife to be positioned at least partially proximal to the rampedsurfaces such that the staples are ejected ahead of the knife.

FIG. 1 depicts a motor-driven surgical system 10 that may be used toperform a variety of different surgical procedures. As can be seen inthat Figure, one example of the surgical system 10 includes fourinterchangeable surgical tool assemblies 1000, 3000, 5000 and 7000 thatare each adapted for interchangeable use with a handle assembly 500.Each interchangeable surgical tool assembly 1000, 3000, 5000 and 7000may be designed for use in connection with the performance of one ormore specific surgical procedures. In another surgical systemembodiment, one or more of the interchangeable surgical tool assemblies1000, 3000, 5000 and 7000 may also be effectively employed with a tooldrive assembly of a robotically controlled or automated surgical system.For example, the surgical tool assemblies disclosed herein may beemployed with various robotic systems, instruments, components andmethods such as, but not limited to, those disclosed in U.S. Pat. No.9,072,535, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS, which is hereby incorporated by referenceherein in its entirety.

FIG. 2 illustrates attachment of an interchangeable surgical toolassembly 1000 to the handle assembly 500. It will be understood that anyof the other interchangeable tool assemblies 3000, 5000, and 7000 may becoupled to the handle assembly 500 in a similar manner. The attachmentarrangement and process depicted in FIG. 2 may also be employed inconnection with attachment of any of the interchangeable surgical toolassemblies 1000, 3000, 5000 and 7000 to a tool drive portion or tooldrive housing of a robotic system. The handle assembly 500 may comprisea handle housing 502 that includes a pistol grip portion 504 that can begripped and manipulated by the clinician. As will be briefly discussedbelow, the handle assembly 500 operably supports a plurality of drivesystems 510, 530 that are configured to generate and apply variouscontrol motions to corresponding portions of the interchangeablesurgical tool assembly 1000, 3000, 5000 and/or 7000 that is operablyattached thereto.

As can be seen in FIG. 2, the handle assembly 500 may further include ahandle frame 506 that operably supports the plurality of drive systems.For example, the handle frame 506 can operably support a “first” orclosure drive system, generally designated as 510, which may be employedto apply closing and opening motions to the interchangeable surgicaltool assembly 1000, 3000, 5000 and 7000 that is operably attached orcoupled to the handle assembly 500. In at least one form, the closuredrive system 510 may include an actuator in the form of a closuretrigger 512 that is pivotally supported by the handle frame 506. Sucharrangement enables the closure trigger 512 to be manipulated by aclinician such that when the clinician grips the pistol grip portion 504of the handle assembly 500, the closure trigger 512 may be easilypivoted from a starting or “unactuated” position to an “actuated”position and more particularly to a fully compressed or fully actuatedposition. In various forms, the closure drive system 510 furtherincludes a closure linkage assembly 514 that is pivotally coupled to theclosure trigger 512 or otherwise operably interfaces therewith. As willbe discussed in further detail below, in the illustrated example, theclosure linkage assembly 514 includes a transverse attachment pin 516that facilitates attachment to a corresponding drive system on thesurgical tool assembly. In use, to actuate the closure drive system 510,the clinician depresses the closure trigger 512 towards the pistol gripportion 504. As described in further detail in U.S. patent applicationSer. No. 14/226,142, entitled SURGICAL INSTRUMENT COMPRISING A SENSORSYSTEM, U.S. Patent Application Publication No. 2015/0272575, now U.S.Pat. No. 9,913,642, which is hereby incorporated by reference in itsentirety herein, when the clinician fully depresses the closure trigger512 to attain the full closure stroke, the closure drive system 510 isconfigured to lock the closure trigger 512 into the fully depressed orfully actuated position. When the clinician desires to unlock theclosure trigger 512 to permit it to be biased to the unactuatedposition, the clinician simply activates a closure release buttonassembly 518 which enables the closure trigger to return to unactuatedposition. The closure release button assembly 518 may also be configuredto interact with various sensors that communicate with a microprocessor560 in the handle assembly 500 for tracking the position of the closuretrigger 512. Further details concerning the configuration and operationof the closure release button assembly 518 may be found in U.S. PatentApplication Publication No. 2015/0272575, now U.S. Pat. No. 9,913,642.

In at least one form, the handle assembly 500 and the handle frame 506may operably support another drive system referred to herein as a firingdrive system 530 that is configured to apply firing motions tocorresponding portions of the interchangeable surgical tool assemblythat is attached thereto. As was described in detail in U.S. PatentApplication Publication No. 2015/0272575, now U.S. Pat. No. 9,913,642,the firing drive system 530 may employ an electric motor 505 that islocated in the pistol grip portion 504 of the handle assembly 500. Invarious forms, the motor 505 may be a DC brushed driving motor having amaximum rotation of, approximately, 25,000 RPM, for example. In otherarrangements, the motor 505 may include a brushless motor, a cordlessmotor, a synchronous motor, a stepper motor, or any other suitableelectric motor. The motor 505 may be powered by a power source 522 thatin one form may comprise a removable power pack. The power pack maysupport a plurality of Lithium Ion (“LI”) or other suitable batteriestherein. A number of batteries connected in series may be used as thepower source 522 for the surgical system 10. In addition, the powersource 522 may be replaceable and/or rechargeable.

The electric motor 505 is configured to axially drive a longitudinallymovable drive member (not shown) in a distal and proximal directionsdepending upon the polarity of the motor. For example, when the motor isdriven in one rotary direction, the longitudinally movable drive memberwill be axially driven in a distal direction “DD”. When the motor 505 isdriven in the opposite rotary direction, the longitudinally movabledrive member will be axially driven in a proximal direction “PD”. Thehandle assembly 500 can include a switch 513 which can be configured toreverse the polarity applied to the electric motor 505 by the powersource 522 or otherwise control the motor 505. The handle assembly 500can also include a sensor or sensors (not shown) that is configured todetect the position of the drive member and/or the direction in whichthe drive member is being moved. Actuation of the motor 505 can becontrolled by a firing trigger 532 (FIG. 1) that is pivotally supportedon the handle assembly 500. The firing trigger 532 may be pivotedbetween an unactuated position and an actuated position. The firingtrigger 532 may be biased into the unactuated position by a spring orother biasing arrangement such that when the clinician releases thefiring trigger 532, it may be pivoted or otherwise returned to theunactuated position by the spring or biasing arrangement. In at leastone form, the firing trigger 532 can be positioned “outboard” of theclosure trigger 512 as was discussed above. As discussed in U.S. PatentApplication Publication No. 2015/0272575, now U.S. Pat. No. 9,913,642,the handle assembly 500 may be equipped with a firing trigger safetybutton (not shown) to prevent inadvertent actuation of the firingtrigger 532. When the closure trigger 512 is in the unactuated position,the safety button is contained in the handle assembly 500 where theclinician cannot readily access it and move it between a safety positionpreventing actuation of the firing trigger 532 and a firing positionwherein the firing trigger 532 may be fired. As the clinician depressesthe closure trigger 512, the safety button and the firing trigger 532pivot down wherein they can then be manipulated by the clinician.

In at least one form, the longitudinally movable drive member may have arack of teeth (not shown) formed thereon for meshing engagement with acorresponding drive gear arrangement (not shown) that interfaces withthe motor. Further details regarding those features may be found in U.S.Patent Application Publication No. 2015/0272575, now U.S. Pat. No.9,913,642. At least one form also includes a manually-actuatable“bailout” assembly that is configured to enable the clinician tomanually retract the longitudinally movable drive member should themotor 505 become disabled. The bailout assembly may include a lever orbailout handle assembly that is stored within the handle assembly 500under a releasable door 550. See FIG. 2. The lever may be configured tobe manually pivoted into ratcheting engagement with the teeth in thedrive member. Thus, the clinician can manually retract the drive memberby using the bailout handle assembly to ratchet the drive member in theproximal direction “PD”. U.S. Pat. No. 8,608,045, entitled POWEREDSURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY RETRACTABLE FIRINGSYSTEM, the entire disclosure of which is hereby incorporated byreference herein, discloses bailout arrangements and other components,arrangements and systems that may also be employed with any one of thevarious interchangeable surgical tool assemblies disclosed herein.

Turning now to FIGS. 3 and 4, the interchangeable surgical tool assembly1000 includes a surgical end effector 1500 that comprises a first jaw1600 and a second jaw 1800. In one arrangement, the first jaw comprisesan elongate channel 1602 that is configured to operably support asurgical staple/fastener cartridge 1700 therein. The second jaw 1800comprises an anvil 1810 that is pivotally supported relative to theelongate channel 1602. The interchangeable surgical tool assembly 1000includes an articulation system 1300 that comprises an articulationjoint 1302 and an articulation lock 1400 (FIGS. 4-6) which can beconfigured to releasably hold the surgical end effector 1500 in adesired articulated position relative to a shaft axis SA₁. Furtherdetails regarding the articulation system and articulation lock may befound in U.S. patent application Ser. No. 15/635,837, entitled SURGICALINSTRUMENT COMPRISING AN ARTICULATION SYSTEM LOCKABLE TO A FRAME, filedon Jun. 28, 2017, now U.S. Patent Application Publication No.2019/0000472, and hereby incorporated by reference herein in itsentirety.

As can be further seen in FIGS. 4 and 7-9, the interchangeable surgicaltool assembly 1000 includes a tool frame assembly 1200 that comprises atool chassis 1210 that operably supports a nozzle assembly 1240 thereon.In one form, the nozzle assembly 1240 is comprised of nozzle portions1242, 1244 as well as an actuator wheel portion 1246 that is configuredto be coupled to the assembled nozzle portions 1242, 1244 by snaps,lugs, screws etc. The interchangeable surgical tool assembly 1000includes a proximal closure assembly 1900 which is operably coupled to adistal closure assembly 2000 that is utilized to close and/or open theanvil 1810 of the surgical end effector 1500 as will be discussed infurther detail below. In addition, the interchangeable surgical toolassembly 1000 includes a spine assembly 1250 that operably supports theproximal closure assembly 1900 and is coupled to the surgical endeffector 1500. In various circumstances, for ease of assembly, the spineassembly 1250 may be fabricated from an upper spine segment 1251 and alower spine segment 1252 that are interconnected together by snapfeatures, adhesive, welding, etc. In assembled form, the spine assembly1250 includes a proximal end 1253 that is rotatably supported in thetool chassis 1210. In one arrangement, for example, the proximal end1253 of the spine assembly 1250 is attached to a spine bearing (notshown) that is configured to be supported within the tool chassis 1210.Such arrangement facilitates rotatable attachment of the spine assembly1250 to the tool chassis 1210 such that the spine assembly 1250 may beselectively rotated about the shaft axis SA₁ relative to the toolchassis 1210. In particular, in one arrangement, for example, theproximal end 1253 of the spine assembly 1250 includes an upper lug seat1254 (FIGS. 4, 5, 7, 8 and 10) and a lower lug seat (not shown) that areeach configured to receive a corresponding nozzle lug 1245 extendinginwardly from each of the nozzle portions 1242, 1244. Such arrangementfacilitates rotation of the spine assembly 1250 about the shaft axis SA₁by rotating the actuator wheel portion 1246 of the nozzle assembly 1240.

As can be seen in FIGS. 4 and 5, spine assembly 1250 further includes anintermediate spine shaft segment 1256 that has a diameter that is lessthan the diameter of the proximal end 1253 of the spine assembly 1250.The intermediate spine shaft segment 1256 of the upper spine segment1251 terminates in an upper lug mount feature 1260 and the intermediatespine shaft segment of the lower spine segment 1252 terminates in alower lug mount feature 1270. As can be most particularly seen in FIG.6, for example, the upper lug mount feature 1260 is formed with a lugslot 1262 therein that is adapted to mountingly support an uppermounting link 1264 therein. Similarly, the lower lug mount feature 1270is formed with a lug slot 1272 therein that is adapted to mountinglysupport a lower mounting link 1274 therein. The upper mounting link 1264includes a pivot socket 1266 therein that is offset from the shaft axisSA₁. The pivot socket 1266 is adapted to rotatably receive therein apivot pin 1634 that is formed on a channel cap or anvil retainer 1630that is attached to a proximal end portion 1610 of the elongate channel1602. The lower mounting link 1274 includes lower pivot pin 1276 thatadapted to be received within a pivot hole 1611 formed in the proximalend portion 1610 of the elongate channel 1602. See FIG. 6. The lowerpivot pin 1276 as well as the pivot hole 1611 is offset from the shaftaxis SA₁. The lower pivot pin 1276 is vertically aligned with the pivotsocket 1266 to define an articulation axis AA₁ about which the surgicalend effector 1500 may articulate relative to the shaft axis SA₁.Although the articulation axis AA₁ is transverse to the shaft axis SA₁,the articulation axis AA₁ is laterally offset therefrom and does notintersect the shaft axis SA₁.

Referring now to FIGS. 6 and 15, the anvil 1810 in the illustratedexample includes an anvil body 1812 that terminates in anvil mountingportion 1820. The anvil mounting portion 1820 is movably or pivotablysupported on the elongate channel 1602 for selective pivotal travelrelative thereto about a fixed anvil pivot axis PA₁ (FIG. 15) that istransverse to the shaft axis SA₁. In the illustrated arrangement, apivot member or anvil trunnion 1822 extends laterally out of eachlateral side of the anvil mounting portion 1820 to be received in acorresponding trunnion cradle 1614 formed in the upstanding walls 1612of the proximal end portion 1610 of the elongate channel 1602. The anviltrunnions 1822 are pivotally retained in their corresponding trunnioncradle 1614 by the channel cap or anvil retainer 1630. The channel capor anvil retainer 1630 includes a pair of attachment lugs 1636 that areconfigured to be retainingly received within corresponding lug groovesor notches 1616 formed in the upstanding walls 1612 of the proximal endportion 1610 of the elongate channel 1602.

In the illustrated example, the surgical end effector 1500 isselectively articulatable about the articulation axis AA₁ by thearticulation system 1300. In one form, the articulation system 1300includes proximal articulation driver 1310 that is pivotally coupled toan articulation link 1320. As can be most particularly seen in FIG. 6,an offset attachment lug 1314 is formed on a distal end 1312 of theproximal articulation driver 1310. A pivot hole 1316 is formed in theoffset attachment lug 1314 and is configured to pivotally receivetherein a proximal link pin 1326 formed on the proximal end 1325 of thearticulation link 1320. A distal end 1322 of the articulation link 1320includes a pivot hole 1324 that is configured to pivotally receivetherein a channel pin 1618 formed on the proximal end portion 1610 ofthe elongate channel 1602. Thus, axial movement of proximal articulationdriver 1310 will thereby apply articulation motions to the elongatechannel 1602 to thereby cause the surgical end effector 1500 toarticulate about the articulation axis AA₁ relative to the spineassembly 1250.

Movement of the anvil 1810 relative to the elongate channel 1602 iseffectuated by axial movement of the proximal closure assembly 1900 andthe distal closure assembly 2000. Referring now to FIGS. 4 and 7, in theillustrated arrangement, the proximal closure assembly 1900 comprises aproximal closure tube 1910 that has a proximal closure tube portion 1920and a distal portion 1930. The distal portion 1930 has a diameter thatis less than the diameter of the proximal closure tube portion 1920. Theproximal end 1922 of the proximal closure tube portion 1920 is rotatablysupported in a closure shuttle 1940 that is slidably supported withinthe tool chassis 1210 such that it may be axially moved relativethereto. In one form, the closure shuttle 1940 includes a pair ofproximally-protruding hooks 1942 that are configured for attachment tothe attachment pin 516 that is attached to the closure linkage assembly514 of the handle assembly 500. The proximal end 1922 of the proximalclosure tube portion 1920 is coupled to the closure shuttle 1940 forrelative rotation thereto. For example, a U-shaped connector 1944 isinserted into an annular slot 1924 in the proximal closure tube portion1920 and is retained within vertical slots 1946 in the closure shuttle1940. Such arrangement serves to attach the proximal closure assembly1900 to the closure shuttle 1940 for axial travel therewith whileenabling the proximal closure assembly 1900 to rotate relative to theclosure shuttle 1940 about the shaft axis SA₁. A closure spring 1948(FIGS. 12-14) extends over the proximal closure tube portion 1920 tobias the closure shuttle 1940 in the proximal direction PD which canserve to pivot the closure trigger 512 on the handle assembly 500 (FIG.2) into the unactuated position when the interchangeable surgical toolassembly 1000 is operably coupled to the handle assembly 500.

Referring now to FIGS. 5 and 6, a distal portion 1930 of the proximalclosure tube 1910 is attached to the distal closure assembly 2000. Inthe illustrated arrangement for example, the distal closure assembly2000 includes an articulation connector 2010 that is coupled to a distalclosure tube segment 2030. In the illustrated example, the distalclosure tube segment 2030 has a diameter that is larger than thediameter of the distal portion 1930 of the proximal closure tube 1910.The articulation connector 2010 has a proximally extending end portion2012 that is adapted to be received on a connection flange 1934 formedon the distal end of the distal portion 1930. The articulation connector2010 may be retained on the connection flange 1934 by an appropriatefastener arrangement such as adhesive, welding, etc. The articulationconnector 2010 includes upper and lower tangs 2014, 2016 protrudedistally from a distal end of the articulation connector 2010 to bemovably coupled to an end effector closure sleeve or distal closure tubesegment 2030. The distal closure tube segment 2030 includes an uppertang 2032 and a lower tang (not shown) that protrude proximally from aproximal end thereof. An upper double pivot link 2060 includes proximaland distal pins 2061, 2062 that engage corresponding holes 2015, 2034 inthe upper tangs 2014, 2032 of the articulation connector 2010 and distalclosure tube segment 2030, respectively. Similarly, a lower double pivotlink 2064 includes proximal and distal pins 2065, 2066 that engagecorresponding holes 2019 in the lower tangs 2016 of the articulationconnector 2010 and distal closure tube segment 2030, respectively. Aswill be discussed in further detail below, distal and proximal axialtranslation of the proximal closure assembly 1900 and distal closureassembly 2000 will result in the closing and opening of the anvil 1810relative to the elongate channel 1602.

In at least one arrangement, the interchangeable surgical tool assembly1000 further includes a firing system generally designated as 2100. Inthe illustrated example, the firing system 2100 includes a firing memberassembly 2110 that is supported for axial travel within the spineassembly 1250. In the illustrated embodiment, the firing member assembly2110 includes an intermediate firing shaft portion 2120 that isconfigured for attachment to a distal cutting portion or knife bar 2130.The firing member assembly 2110 may also be referred to herein as a“second shaft” and/or a “second shaft assembly”. As can be seen in FIG.5, the intermediate firing shaft portion 2120 may include a longitudinalslot 2124 in a distal end 2122 thereof which can be configured toreceive a proximal end 2132 of the knife bar 2130. The longitudinal slot2124 and the proximal end 2132 of the knife bar 2130 can be sized andconfigured to permit relative movement therebetween and can comprise aslip joint 2134. The slip joint 2134 can permit the intermediate firingshaft portion 2120 of the firing member assembly 2110 to be moved toarticulate the end effector 1500 without moving, or at leastsubstantially moving, the knife bar 2130. Once the end effector 1500 hasbeen suitably oriented, the intermediate firing shaft portion 2120 canbe advanced distally until a proximal sidewall of the longitudinal slot2124 comes into contact with a portion of the knife bar 2130 to advancethe knife bar 2130 and fire the surgical staple/fastener cartridge 1700positioned within the elongate channel 1602. In the illustratedarrangement, a proximal end 2127 of the intermediate firing shaftportion 2120 has a firing shaft attachment lug 2128 formed thereon (FIG.8) that is configured to be seated into an attachment cradle (not shown)that is on the distal end of the longitudinally movable drive member(not shown) of the firing drive system 530 within the handle assembly500. Such arrangement facilitates the axial movement of the intermediatefiring shaft portion 2120 upon actuation of the firing drive system 530.

Further to the above, the interchangeable tool assembly 1000 can includea shifter assembly 2200 which can be configured to selectively andreleasably couple the proximal articulation driver 1310 to the firingsystem 2100. In one form, the shifter assembly 2200 includes a lockcollar, or lock sleeve 2210, positioned around the intermediate firingshaft portion 2120 of the firing system 2100 wherein the lock sleeve2210 can be rotated between an engaged position in which the lock sleeve2210 couples the proximal articulation driver 1310 to the firing memberassembly 2110 and a disengaged position in which the proximalarticulation driver 1310 is not operably coupled to the firing memberassembly 2110. When lock sleeve 2210 is in its engaged position, distalmovement of the firing member assembly 2110 can move the proximalarticulation driver 1310 distally and, correspondingly, proximalmovement of the firing member assembly 2110 can move the proximalarticulation driver 1310 proximally. When lock sleeve 2210 is in itsdisengaged position, movement of the firing member assembly 2110 is nottransmitted to the proximal articulation driver 1310 and, as a result,the firing member assembly 2110 can move independently of the proximalarticulation driver 1310. In various circumstances, the proximalarticulation driver 1310 can be held in position by the articulationlock 1400 when the proximal articulation driver 1310 is not being movedin the proximal or distal directions by the firing member assembly 2110.

In the illustrated arrangement, the intermediate firing shaft portion2120 of the firing member assembly 2110 is formed with two opposed flatsides 2121, 2123 with a drive notch 2126 formed therein. See FIG. 8. Ascan also be seen in FIG. 13, the lock sleeve 2210 comprises acylindrical, or an at least substantially cylindrical, body thatincludes a longitudinal aperture 2212 that is configured to receive theintermediate firing shaft portion 2120 therethrough. The lock sleeve2210 can comprise diametrically-opposed, inwardly-facing lockprotrusions 2214, 2216 that, when the lock sleeve 2210 is in oneposition, are engagingly received within corresponding portions of thedrive notch 2126 in the intermediate firing shaft portion 2120 and, whenin another position, are not received within the drive notch 2126 tothereby permit relative axial motion between the lock sleeve 2210 andthe intermediate firing shaft portion 2120.

Referring now to FIGS. 8 and 12-14, in the illustrated example, the locksleeve 2210 further includes a lock member 2218 that is sized to bemovably received within a notch 1319 in a proximal end 1318 of theproximal articulation driver 1310. Such arrangement permits the locksleeve 2210 to slightly rotate into and out of engagement with theintermediate firing shaft portion 2120 while remaining in engagementwith the notch 1319 in the proximal articulation driver 1310. Forexample, when the lock sleeve 2210 is in its engaged position, the lockprotrusions 2214, 2216 are positioned within the drive notch 2126 in theintermediate firing shaft portion 2120 such that a distal pushing forceand/or a proximal pulling force can be transmitted from the firingmember assembly 2110 to the lock sleeve 2210. Such axial pushing orpulling motion is then transmitted from the lock sleeve 2210 to theproximal articulation driver 1310 to thereby articulate the surgical endeffector 1500. In effect, the firing member assembly 2110, the locksleeve 2210, and the proximal articulation driver 1310 will movetogether when the lock sleeve 2210 is in its engaged (articulation)position. On the other hand, when the lock sleeve 2210 is in itsdisengaged position, the lock protrusions 2214, 2216 are not receivedwithin the drive notch 2126 in the intermediate firing shaft portion2120 and, as a result, a distal pushing force and/or a proximal pullingforce may not be transmitted from the firing member assembly 2110 to thelock sleeve 2210 (and the proximal articulation driver 1310).

In the illustrated example, relative movement of the lock sleeve 2210between its engaged and disengaged positions may be controlled by ashifter assembly 2200 that is interfaces with the proximal closure tube1910 of the proximal closure assembly 1900. More specifically and withreference to FIGS. 8 and 9, the shifter assembly 2200 further includes ashifter key 2240 that is configured to be slidably received within a keygroove 2217 formed in the outer perimeter of the lock sleeve 2210. Sucharrangement enables the shifter key 2240 to move axially with respect tothe lock sleeve 2210. Referring to FIGS. 8-11, the shifter key 2240includes an actuator lug 2242 that extends through a cam slot or camopening 1926 in the proximal closure tube portion 1920. See FIG. 9. Acam surface 2243 is also provided adjacent the actuator lug 2242 whichis configured to cammingly interact with the cam opening 1926 so as tocause the shifter key 2240 to rotate in response to axial motion of theproximal closure tube portion 1920.

Also in the illustrated example, the shifter assembly 2200 furtherincludes a switch drum 2220 that is rotatably received on a proximal endportion of the proximal closure tube portion 1920. As can be seen inFIGS. 10-14, the actuator lug 2242 extends through an axial slot segment2222 in the switch drum 2220 and is movably received within an arcuateslot segment 2224 in the switch drum 2220. A switch drum torsion spring2226 (FIGS. 12-14) is mounted on the switch drum 2220 and engages nozzleportion 1244 to apply a torsional bias or rotation (arrow SR in FIGS. 10and 11) which serves to rotate the switch drum 2220 until the actuatorlug 2242 reaches the end of the arcuate slot segment 2224. See FIGS. 11and 12. When in this position, the switch drum 2220 may provide atorsional bias to the shifter key 2240 which thereby causes the locksleeve 2210 to rotate into its engaged position with the intermediatefiring shaft portion 2120. This position also corresponds to theunactuated configuration of the proximal closure assembly 1900. In onearrangement, for example, when the proximal closure assembly 1900 is inan unactuated configuration (anvil 1810 is in an open position spacedaway from the surgical staple/fastener cartridge 1700) the actuator lug2242 is located in the upper portion of the cam opening 1926 in theproximal closure tube portion 1920. When in that position, actuation ofthe intermediate firing shaft portion 2120 will result in the axialmovement of the proximal articulation driver 1310. Once the user hasarticulated the surgical end effector 1500 to a desired orientation, theuser may then actuate the proximal closure assembly 1900. Actuation ofthe proximal closure assembly 1900 will result in the distal travel ofthe proximal closure tube portion 1920 to ultimately apply a closingmotion to the anvil 1810. This distal travel of the proximal closuretube portion 1920 will result in the cam opening 1926 camminglyinteracting with the cam surface 2243 on the actuator lug 2242 tothereby cause the shifter key 2240 to rotate the lock sleeve 2210 in anactuation direction AD. Such rotation of the lock sleeve 2210 willresult in the disengagement of the lock protrusions 2214, 2216 from thedrive notch 2126 in the intermediate firing shaft portion 2120. When insuch configuration, the firing drive system 530 may be actuated toactuate the intermediate firing shaft portion 2120 without actuating theproximal articulation driver 1310. Further details concerning theoperation of the switch drum 2220 and lock sleeve 2210, as well asalternative articulation and firing drive arrangements that may beemployed with the various interchangeable surgical tool assembliesdescribed herein, may be found in U.S. patent application Ser. No.13/803,086, now U.S. Patent Application Publication No. 2014/0263541,and U.S. patent application Ser. No. 15/019,196, now U.S. Patentapplication No. 10,413,291, the entire disclosures of which are herebyincorporated by reference herein.

Referring again to FIGS. 8-13, the switch drum 2220 can further compriseat least partially circumferential openings 2228, 2230 defined thereinwhich can receive circumferential lugs/mounts 1245 that extend from thenozzle portions 1242, 1244 and permit relative rotation, but nottranslation, between the switch drum 2220 and the nozzle assembly 1240.The nozzle lugs 1245 extend through corresponding openings 1923 in theproximal closure tube portion 1920 to be seated in lug seats 1254 in thespine assembly 1250. See FIGS. 8 and 9. Such arrangement enables theuser to rotate the spine assembly 1250 about the shaft axis by rotatingthe nozzle assembly 1240.

As also illustrated in FIGS. 7 and 12-14, the interchangeable toolassembly 1000 can comprise a slip ring assembly 1230 which can beconfigured to conduct electrical power to and/or from the surgical endeffector 1500 and/or communicate signals to and/or from the surgical endeffector 1500, back to a microprocessor 560 (FIG. 2) in the handleassembly 500 or robotic system controller, for example. Further detailsconcerning the slip ring assembly 1230 and associated connectors may befound in U.S. patent application Ser. No. 13/803,086, now U.S. PatentApplication Publication No. 2014/0263541, and U.S. patent applicationSer. No. 15/019,196, now U.S. Pat. No. 10,413,291, which have each beenherein incorporated by reference in their respective entirety as well asin U.S. patent application Ser. No. 13/800,067, entitled STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, now U.S. Patent ApplicationPublication No. 2014/0263552, which is hereby incorporated by referenceherein in its entirety. As also described in further detail in theaforementioned patent applications that have been incorporated byreference herein, the interchangeable surgical tool assembly 1000 canalso comprise at least one sensor that is configured to detect theposition of the switch drum 2220.

Referring again to FIG. 2, the tool chassis 1210 includes at least one,and preferably two, tapered attachment portions 1212 formed thereon thatare adapted to be received within corresponding dovetail slots 507formed within the distal end portion of the handle frame 506 of thehandle assembly 500. Various interchangeable surgical tool assembliesemploy a latch system 1220 for removably coupling the interchangeablesurgical tool assembly 1000 to the handle frame 506 of the handleassembly 500. As can be seen in FIG. 7, for example, in at least oneform, the latch system 1220 includes a lock member or lock yoke 1222that is movably coupled to the tool chassis 1210. In the illustratedembodiment, for example, the lock yoke 1222 has a U-shape with twospaced downwardly extending legs 1223. The legs 1223 each have a pivotlug (not shown) formed thereon that are adapted to be received incorresponding holes formed in the tool chassis 1210. Such arrangementfacilitates pivotal attachment of the lock yoke 1222 to the tool chassis1210. The lock yoke 1222 may include two proximally protruding lock lugs1224 that are configured for releasable engagement with correspondinglock detents or grooves 509 in the distal end of the handle frame 506 ofthe handle assembly 500. See FIG. 2. In various forms, the lock yoke1222 is biased in the proximal direction by a spring or biasing member1225. Actuation of the lock yoke 1222 may be accomplished by a latchbutton 1226 that is slidably mounted on a latch actuator assembly 1221that is mounted to the tool chassis 1210. The latch button 1226 may bebiased in a proximal direction relative to the lock yoke 1222. The lockyoke 1222 may be moved to an unlocked position by biasing the latchbutton 1226 in the distal direction which also causes the lock yoke 1222to pivot out of retaining engagement with the distal end of the handleframe 506. When the lock yoke 1222 is in “retaining engagement” with thedistal end of the handle frame 506, the lock lugs 1224 are retaininglyseated within the corresponding lock detents or grooves 509 in thedistal end of the handle frame 506.

In the illustrated arrangement, the lock yoke 1222 includes at least oneand preferably two lock hooks 1227 that are adapted to contactcorresponding lock lug portions 1943 that are formed on the closureshuttle 1940. When the closure shuttle 1940 is in an unactuatedposition, the lock yoke 1222 may be pivoted in a distal direction tounlock the interchangeable surgical tool assembly 1000 from the handleassembly 500. When in that position, the lock hooks 1227 do not contactthe lock lug portions 1943 on the closure shuttle 1940. However, whenthe closure shuttle 1940 is moved to an actuated position, the lock yoke1222 is prevented from being pivoted to an unlocked position. Statedanother way, if the clinician were to attempt to pivot the lock yoke1222 to an unlocked position or, for example, the lock yoke 1222 wasinadvertently bumped or contacted in a manner that might otherwise causeit to pivot distally, the lock hooks 1227 on the lock yoke 1222 willcontact the lock lug portions 1943 on the closure shuttle 1940 andprevent movement of the lock yoke 1222 to an unlocked position.

Referring again to FIG. 6, the knife bar 2130 may comprise a laminatedbeam structure that includes at least two beam layers. Such beam layersmay comprise, for example, stainless steel bands that are interconnectedby, for example, welding or pinning together at their proximal endsand/or at other locations along their length. In alternativeembodiments, the distal ends of the bands are not connected together toallow the laminates or bands to splay relative to each other when theend effector is articulated. Such arrangement permits the knife bar 2130to be sufficiently flexible to accommodate articulation of the endeffector. Various laminated knife bar arrangements are disclosed in U.S.patent application Ser. No. 15/019,245, entitled SURGICAL INSTRUMENTSWITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. Pat. No.10,470,764, which is hereby incorporated by reference in its entirety.As can also be seen in FIG. 6, a firing shaft support assembly 2300 isemployed to provide lateral support to the knife bar 2130 as it flexesto accommodate articulation of the surgical end effector 1500. Furtherdetails concerning the operation of the firing shaft support assembly2300 and alternative knife bar support arrangements may be found in U.S.patent application Ser. No. 15/019,245, entitled SURGICAL INSTRUMENTSWITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. Pat. No.10,470,764, and U.S. patent application Ser. No. 15/019,220, entitledSURGICAL INSTRUMENT WITH ARTICULATING AND AXIALLY TRANSLATABLE ENDEFFECTOR, now U.S. Pat. No. 10,245,029, which are each herebyincorporated by reference herein in their respective entireties.

As can also be seen in FIG. 6, a firing member or knife member 2140 isattached to the distal end of the knife bar 2130. In one exemplary form,the firing member 2140 comprises a body portion 2142 that supports aknife or tissue cutting portion 2144. The body portion 2142 protrudesthrough an elongate slot 1604 in the elongate channel 1602 andterminates in a foot member 2146 that extends laterally on each side ofthe body portion 2142. As the firing member 2140 is driven distallythrough the surgical staple/fastener cartridge 1700, the foot member2146 rides within a passage 1622 (FIG. 48) in the elongate channel 1602that is located under the surgical staple/fastener cartridge 1700. Inone arrangement, the body portion 2142 includes two laterally protrudingcentral tabs 2145 that may ride above the central passage within thesurgical staple/fastener cartridge 1700. See FIG. 6. The tissue cuttingportion 2144 is disposed between a distally protruding top nose portion2143. As can be further seen in FIG. 6, the firing member 2140 mayfurther include two laterally extending top tabs, pins or anvilengagement features 2147. As the firing member 2140 is driven distally,a top portion of the body portion 2142 extends through a centrallydisposed anvil slot 1814 and the anvil engagement features 2147 ride oncorresponding anvil ledges 1816 formed on each side of the anvil slot1814. In one arrangement, to facilitate assembly of the anvil 1810 andfiring member 2140 arrangement, the top of the anvil body 1812 has anopening 1817 therein. Once the anvil 1810 is assembled onto the elongatechannel 1602 and the firing member 2140 is installed, the opening 1817is covered by an anvil cap 1819 that is affixed to the anvil body 1812by welding or other suitable fastening means.

Returning to FIG. 6, the firing member 2140 is configured to operablyinterface with a sled assembly 2150 that is operably supported within abody 1702 of the surgical staple/fastener cartridge 1700. The sledassembly 2150 is slidably displaceable within the surgicalstaple/fastener cartridge body 1702 from a proximal starting positionadjacent the proximal end 1704 of the cartridge body 1702 to an endingposition adjacent a distal end 1706 of the cartridge body 1702. Thecartridge body 1702 operably supports therein a plurality of stapledrivers (not shown) that are aligned in rows on each side of a centrallydisposed slot 1708. The centrally disposed slot 1708 enables the firingmember 2140 to pass therethrough and cut the tissue that is clampedbetween the anvil 1810 and the surgical staple/fastener cartridge 1700.The drivers are associated with corresponding staple/fastener pockets1712 that open through an upper deck surface 1710 of the cartridge body1702. Each of the staple drivers supports one or more surgicalstaple/fastener or fastener (not shown) thereon. The sled assembly 2150includes a plurality of sloped or wedge-shaped cams 2152 wherein eachcam 2152 corresponds to a particular line of fasteners or driverslocated on a side of the slot 1708.

Attachment of the interchangeable surgical tool assembly 1000 to thehandle assembly 500 will now be described with reference to FIG. 2. Tocommence the coupling process, the clinician may position the toolchassis 1210 of the interchangeable surgical tool assembly 1000 above oradjacent to the distal end of the handle frame 506 such that the taperedattachment portions 1212 formed on the tool chassis 1210 are alignedwith the dovetail slots 507 in the handle frame 506. The clinician maythen move the surgical tool assembly 1000 along an installation axis IAthat is perpendicular to the shaft axis SA₁ to seat the taperedattachment portions 1212 in “operable engagement” with the correspondingdovetail receiving slots 507 in the distal end of the handle frame 506.In doing so, the firing shaft attachment lug 2128 on the intermediatefiring shaft portion 2120 will also be seated in the attachment cradle(not shown) in the longitudinally movable drive member (not shown)within the handle assembly 500 and the portions of attachment pin 516 onthe closure link 514 will be seated in the corresponding hooks 1942 inthe closure shuttle 1940. As used herein, the term “operable engagement”in the context of two components means that the two components aresufficiently engaged with each other so that upon application of anactuation motion thereto, the components may carry out their intendedaction, function and/or procedure.

During a typical surgical procedure, the clinician may introduce thesurgical end effector 1500 into the surgical site through a trocar orother opening in the patient to access the target tissue. When doing so,the clinician typically axially aligns the surgical end effector 1500along the shaft axis (unarticulated state). Once the surgical endeffector 1500 has passed through the trocar port, for example, theclinician may need to articulate the end effector 1500 to advantageouslyposition it adjacent the target tissue. This is prior to closing theanvil onto the target tissue, so the closure drive system 510 wouldremain unactuated. When in this position, actuation of the firing drivesystem 530 will result in the application of articulation motions to theproximal articulation driver 1310. Once the end effector has attainedthe desired articulated position, the firing drive system 530 isdeactivated and the articulation lock 1400 may retain the surgical endeffector 1500 in the articulated position. The clinician may thenactuate the closure drive system 510 to close the anvil 1810 onto thetarget tissue. Such actuation of the closure drive system 510 may alsoresult in the shifter assembly 2200 delinking the proximal articulationdriver from the intermediate firing shaft portion 2120. Thus, once thetarget tissue has been captured in the surgical end effector 1500, theclinician may once again actuate the firing drive system 530 to axiallyadvance the firing member 2140 through the surgical staple/fastenercartridge 1700 to cut the clamped tissue and fire the staples into thecut tissue. Other closure and firing drive arrangements, actuatorarrangements (both handheld, manual and automated or robotic) may alsobe employed to control the axial movement of the closure systemcomponents, the articulation system components and/or the firing systemcomponents of the surgical tool assembly 1000 without departing from thespirit and scope of the various inventions disclosed herein.

Returning now to FIG. 1, the surgical system 10 illustrated in thatFigure includes four interchangeable surgical tool assemblies 1000,3000, 5000 and 7000 that may each be effectively employed with the samehandle assembly 500 to perform different surgical procedures. Turningnow to FIGS. 16-18, the interchangeable surgical tool assembly 3000includes a surgical end effector 3500 that comprises a first jaw 3600and a second jaw 3800. In one arrangement, the first jaw comprises anelongate channel 3602 that is configured to operably support a surgicalstaple/fastener cartridge 3700 therein. The second jaw 3800 comprises ananvil 3810 that is pivotally supported relative to the elongate channel3602. The interchangeable surgical tool assembly 3000 includes anarticulation system 3300 that comprises an articulation joint 3302 andan articulation lock 3400 which can be configured to releasably hold thesurgical end effector 3500 in a desired articulated position relative toa shaft axis SA₂. Details regarding the construction and operation ofthe articulation lock 3400 as well as alternative lock configurationsand operational details may be found in in U.S. patent application Ser.No. 13/803,086, entitled ARTICULATABLE SURGICAL INSTRUMENT COMPRISING ANARTICULATION LOCK, now U.S. Patent Application Publication No.2014/0263541, the entire disclosure of which is hereby incorporated byreference herein. Additional details concerning the articulation lock3400 may also be found in U.S. patent application Ser. No. 15/019,196,filed Feb. 9, 2016, entitled SURGICAL INSTRUMENT ARTICULATION MECHANISMWITH SLOTTED SECONDARY CONSTRAINT, now U.S. Pat. No. 10,413,291, theentire disclosure of which is hereby incorporated by reference herein.

As can be seen in FIG. 17, the interchangeable surgical tool assembly3000 includes a tool frame assembly 3200 that comprises a tool chassis3210 that operably supports a nozzle assembly 3240 thereon. In one form,the nozzle assembly 3240 is comprised of nozzle portions 3242, 3244 aswell as an actuator wheel portion 3246 that is configured to be coupledto the assembled nozzle portions 3242, 3244 by snaps, lugs, screws etc.The interchangeable surgical tool assembly 3000 includes a proximalclosure assembly 3900 which is operably coupled to a distal closureassembly 4000 that is utilized to close and/or open the anvil 3810 ofthe surgical end effector 3500 as will be discussed in further detailbelow. In addition, the interchangeable surgical tool assembly 3000includes an “elastic” spine assembly 3250 that operably supports theproximal closure assembly 3900 and is coupled to the surgical endeffector 3500. One exemplary form of spine assembly 3250 is disclosed inU.S. patent application Ser. No. 15/385,911, entitled SURGICALSTAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRINGSYSTEMS, now U.S. Pat. No. 10,448,950, the entire disclosure of which ishereby incorporated by reference herein. For example, the spine assembly3250 may comprise an elastic spine member that has a proximal endportion 3253 and a distal end portion 3280 that is separated from theproximal end portion 3253 of the elastic spine assembly 3250 by astretch feature 3282 formed therebetween. In addition, a stretchlimiting insert 3284 is retainingly supported between the distal endportion 3280 and the proximal end portion 3253. In various arrangements,the elastic spine assembly 3250 may be fabricated from, for example,suitable polymeric material, rubber, etc. which has a modulus ofelasticity designated as ME₁ for reference purposes. The stretchlimiting insert 3284 may have a modulus of elasticity designated as ME₂for reference purposes. In various circumstances, the stretch limitinginsert 3284 also includes a pair of stretch limiters 3285 (only one isshown in FIG. 17). The stretch limiter 3285 may have a modulus ofelasticity for reference purposes of ME₃. In at least one arrangement,ME₃<ME₂<ME₁. Further details about at least one implementation of theelastic spine assembly 3250 and stretch limiting insert 3284 may befound in U.S. patent application Ser. No. 15/385,911, now U.S. Pat. No.10,448,950.

In the illustrated arrangement, the distal end portion 3280 of the spineassembly 3250 has an opening 3281 therein for ease of assembly. A spinecap 3283 may be attached thereto to cover the opening 3281 after thevarious components have been assembled therein. In assembled form, theproximal end portion 3253 of the spine assembly 3250 is rotatablysupported in the tool chassis 3210. In one arrangement, for example, theproximal end of the proximal end portion 3253 of the spine assembly 3250is attached to a spine bearing (not shown) that is configured to besupported within the tool chassis 3210. Such arrangement facilitatesrotatable attachment of the spine assembly 3250 to the tool chassis 3210such that the spine assembly 3250 may be selectively rotated about ashaft axis SA₂ relative to the tool chassis 3210. In particular, in onearrangement, for example, the proximal end portion 3253 of the spineassembly 3250 includes two diametrically opposed lug seats 3254 (onlyone can be seen in FIG. 17) that are each configured to receive acorresponding nozzle lug (not shown) that extend inwardly from each ofthe nozzle portions 3242, 3244. Such arrangement facilitates rotation ofthe spine assembly 3250 about the shaft axis SA₂ by rotating theactuator wheel portion 3246 of the nozzle assembly 3240.

Referring now to FIG. 18, the distal end portion 3280 of the elasticspine assembly 3250 is attached to a distal frame segment 3286 thatoperably supports the articulation lock 3400 therein. The spine assembly3250 is configured to, one, slidably support a firing member assembly4110 therein and, two, slidably support the proximal closure tube 3910which extends around the spine assembly 3250. The spine assembly 3250can also be configured to slidably support a proximal articulationdriver 3310. As can be seen in FIG. 18, the distal frame segment 3286 ispivotally coupled to the elongate channel 3602 by an end effectormounting assembly 3290. In one arrangement, for example, the distal endof the distal frame segment 3286 has a pivot pin 3288 formed thereon.The pivot pin 3288 is adapted to be pivotally received within a pivothole 3292 formed in pivot base portion 3291 of the end effector mountingassembly 3290. The end effector mounting assembly 3290 is attached to aproximal end 3610 of the elongate channel 3602 by a spring pin 3620 orother suitable member that is received within mounting holes 3611 in theproximal end portion 3610. The pivot pin 3288 defines an articulationaxis AA₂ that is transverse to the shaft axis SA₂. See FIG. 18. Sucharrangement facilitates pivotal travel (i.e., articulation) of thesurgical end effector 3500 about the articulation axis AA₂ relative tothe elastic spine assembly 3250. The distal frame segment 3286 isfurther configured to support the articulation lock 3400 therein.Various articulation lock arrangements may be employed. At least oneform of articulation lock 3400 is described in further detail in U.S.patent application Ser. No. 13/803,086, entitled ARTICULATABLE SURGICALINSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Patent ApplicationPublication No. 2014/0263541, the entire disclosure of which is herebyincorporated by reference herein. Additional details concerning thearticulation lock may also be found in U.S. patent application Ser. No.15/019,196, filed Feb. 9, 2016, entitled SURGICAL INSTRUMENTARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT, now U.S. Pat.No. 10,413,291.

In the illustrated example, the surgical end effector 3500 is electivelyarticulatable about the articulation axis AA₂ by the articulation system3300. In one form, the articulation system 3300 includes the proximalarticulation driver 3310 that operably interfaces with the articulationlock 3400. The articulation lock 3400 includes an articulation frame3402 that is adapted to operably engage a drive pin 3293 on the pivotbase portion 3291 of the end effector mounting assembly 3290. Inaddition, a cross link 3294 may be linked to the drive pin 3293 andarticulation frame 3402 to assist articulation of the surgical endeffector 3500. As indicated above, further details regarding theoperation of the articulation lock 3400 and the articulation frame 3402may be found in U.S. patent application Ser. No. 13/803,086, now U.S.Patent Application Publication No. 2014/0263541. Further detailsregarding the end effector mounting assembly and cross link 3294 may befound in U.S. patent application Ser. No. 15/019,245, filed Feb. 9,2016, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONARRANGEMENTS, now U.S. Pat. No. 10,470,764, the entire disclosure ofwhich is hereby incorporated by reference herein. As further describedtherein, as well as in other disclosures incorporated by referenceherein, axial movement of proximal articulation driver 3310 will resultin the engagement/disengagement of the articulation lock 3400 to therebyapply articulation motions to the elongate channel 3602 and therebycause the surgical end effector 3500 to articulate about thearticulation axis AA₂ relative to the spine assembly 3250.

The anvil 3810 in the illustrated example includes an anvil body 3812that terminates in anvil mounting portion 3820. The anvil mountingportion 3820 is movably or pivotably supported on the elongate channel3602 for selective pivotal travel relative thereto about a fixed anvilpivot axis PA₂ (FIG. 18) that is transverse to the shaft axis SA₂. Inthe illustrated arrangement, an anvil trunnion 3822 extends laterallyout of each lateral side of the anvil mounting portion 3820 to bereceived in a corresponding trunnion pivot hole 3613 formed in theupstanding walls 3612 of the proximal end portion 3610 of the elongatechannel 3602. Movement of the anvil 3810 relative to the elongatechannel 3602 is effectuated by axial movement of the proximal closureassembly 3900 and the distal closure assembly 4000. In the illustratedarrangement, the proximal closure assembly 3900 comprises a proximalclosure tube 3910 that has a proximal end 3912 and a distal end 3914.The proximal end 3912 is rotatably supported in a closure shuttle 3940that is slidably supported within the tool chassis 3210 such that it maybe axially moved relative thereto. In one form, the closure shuttle 3940includes a pair of proximally-protruding hooks 3942 that are configuredfor attachment to the transverse attachment pin 516 that is attached tothe closure linkage assembly 514 of the handle assembly 500. Theproximal end 3912 is coupled to the closure shuttle 3940 for relativerotation thereto. For example, a U-shaped connector 3944 is insertedinto an annular slot 3916 in the proximal end 3912 and is retainedwithin vertical slots 3946 in the closure shuttle 3940. Such arrangementserves to attach the proximal closure assembly 3900 to the closureshuttle 3940 for axial travel therewith while enabling the proximalclosure tube 3910 to rotate relative to the closure shuttle 3940 aboutthe shaft axis SA₂. As was discussed above in connection with theinterchangeable surgical tool assembly 1000, a closure spring (notshown) may extend over the proximal end 3912 of the proximal closuretube 3910 to bias the closure shuttle 3940 in the proximal direction PDwhich can serve to pivot the closure trigger 512 on the handle assembly500 (FIG. 2) into the unactuated position when the interchangeablesurgical tool assembly 3000 is operably coupled to the handle assembly500 in the above described manner.

As can be seen in FIG. 18, the distal end 3914 of the proximal closuretube 3910 is attached to the distal closure assembly 4000. The distalend 3914 includes upper and lower tangs 3917, 3918 that are configuredto be movably coupled to an end effector closure sleeve or distalclosure tube segment 4030. The distal closure tube segment 4030 includesan upper tang 4032 and a lower tang 4034 that protrude proximally from aproximal end thereof. An upper double pivot link 4060 pivotally couplesthe upper tangs 3917 and 4032 and a lower double pivot link 4064pivotally couples the lower tangs 3918 and 4034 together in theabove-described manner. The distal advancement of the distal closuretube segment 4030 on the anvil mounting portion 3820 will result inclosure or pivotal travel of the anvil 3810 towards the elongate channel3602 about the fixed anvil pivot axis PA₂. In the illustratedarrangement, the distal closure tube segment 4030 also includes positivejaw or anvil opening features 4040 that are configured to coact withsurfaces or ramp portions on the anvil mounting portion 3820 so as tocause the anvil 3810 to pivot from a closed position to an open positionas the distal closure tube segment 4030 is moved proximally back to astarting position. Other embodiments may not employ the positive jawopening features, but may rely on springs or other biasing arrangementsto bias the anvil to the open position when the distal closure tubesegment has been retracted to its proximal-most starting position.Further details regarding configurations and operation of the anvilopening features may be found in for example, U.S. patent applicationSer. No. 15/385,911, entitled SURGICAL STAPLE/FASTENERS WITHINDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS, now U.S. Pat. No.10,448,950.

In the illustrated arrangement, the interchangeable surgical toolassembly 3000 further includes a firing system generally designated as4100. In various instances, the firing system 4100 includes a firingmember assembly 4110 that is supported for axial travel within the spineassembly 3250. In the illustrated embodiment, the firing member assembly4110 includes an intermediate firing shaft portion 4120 that isconfigured for attachment to a distal cutting portion or knife bar 4130.A support bushing arrangement 4121 may be employed to support theintermediate firing shaft portion 4120 within the spine assembly 3250.The firing member assembly 4110 may also be referred to herein as a“second shaft” and/or a “second shaft assembly”. As can be seen in FIG.18, the intermediate firing shaft portion 4120 may include alongitudinal slot 4124 in a distal end 4122 thereof which can beconfigured to receive a proximal end 4132 of the knife bar 4130. Thelongitudinal slot 4124 and the proximal end 4132 of the knife bar 4130can be sized and configured to permit relative movement therebetween andcan comprise a slip joint 4134. The slip joint 4134 can permit theintermediate firing shaft portion 4120 of the firing member assembly4110 to be moved to articulate the end effector 3500 without moving, orat least substantially moving, the knife bar 4130 as was discussedabove. In the illustrated arrangement, a proximal end 4127 of theintermediate firing shaft portion 4120 has a firing shaft attachment lug4128 formed thereon that is configured to be seated into the attachmentcradle (not shown) that is on the distal end of the longitudinallymovable drive member (not shown) of the firing drive system 530 withinthe handle assembly 500 as was discussed above. Such arrangementfacilitates the axial movement of the intermediate firing shaft portion4120 upon actuation of the firing drive system 530. Other attachmentconfigurations may also be employed to couple the intermediate firingshaft portion 4120 to other firing drive arrangements (e.g., manuallyactuated, robotic, etc.).

Further to the above, the interchangeable tool assembly 3000 can includea shifter assembly 4200 which can be configured to selectively andreleasably couple the proximal articulation driver 3310 to the firingmember assembly 4110 in the manner described above. In one form, theshifter assembly 4200 includes a lock collar, or lock sleeve 4210,positioned around the intermediate firing shaft portion 4120 of thefiring member assembly 4110 wherein the lock sleeve 4210 can be rotatedbetween an engaged position in which the lock sleeve 4210 couples theproximal articulation driver 3310 to the firing member assembly 4110 anda disengaged position in which the proximal articulation driver 3310 isnot operably coupled to the firing member assembly 4110. As wasdiscussed above, the intermediate firing shaft portion 4120 of thefiring member assembly 4110 is formed with a drive notch 4126. The locksleeve 4210 comprises a cylindrical, or an at least substantiallycylindrical, body that includes a longitudinal aperture 4212 that isconfigured to receive the intermediate firing shaft portion 4120therethrough. The lock sleeve 4210 can comprise diametrically-opposed,inwardly-facing lock protrusions 4214, 4216 that, when the lock sleeve4210 is in one position, are engagingly received within correspondingportions of the drive notch 4126 in the intermediate firing shaftportion 4120 and, when in another position, are not received within thedrive notch 4126 to thereby permit relative axial motion between thelock sleeve 4210 and the intermediate firing shaft 4120 as was discussedin further detail above. The lock sleeve 4210 further includes a lockmember 4218 that is sized to be movably received within a notch 3319 ina proximal end of the proximal articulation driver 3310. When the locksleeve 4210 is in its engaged position, the lock protrusions 4214, 4216are positioned within the drive notch 4126 in the intermediate firingshaft portion 4120 such that a distal pushing force and/or a proximalpulling force can be transmitted from the firing member assembly 4110 tothe lock sleeve 4210. Such axial pushing or pulling motion is thentransmitted from the lock sleeve 4210 to the proximal articulationdriver 3310 to thereby articulate the surgical end effector 3500.

As was discussed above, in the illustrated example, relative movement ofthe lock sleeve 4210 between its engaged and disengaged positions may becontrolled by the shifter assembly 4200 that interfaces with theproximal closure tube 3910 of the proximal closure assembly 3900. Theshifter assembly 4200 further includes a shifter key 4240 that isconfigured to be slidably received within a key groove (similar to thekey groove 2217 illustrated in FIG. 8) formed in the outer perimeter ofthe lock sleeve 4210. Such arrangement enables the shifter key 4240 tomove axially with respect to the lock sleeve 4210. Operation of theshifter assembly 4200 may be identical to the operation of the shifterassembly 2200 which was described in further detail above and which willnot be repeated again for brevity. Further details, alternativearrangements and drive configurations that may be employed are disclosedin other arrangements that may be employed are disclosed in U.S. patentapplication Ser. No. 15/385,911, entitled SURGICAL STAPLE/FASTENERS WITHINDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS, now U.S. Pat. No.10,448,950, U.S. patent application Ser. No. 13/803,086, now U.S. PatentApplication Publication No. 2014/0263541, and U.S. patent applicationSer. No. 15/019,196, now U.S. Pat. No. 10,413,291, the as well as otherdisclosures that have been incorporated herein.

The interchangeable tool assembly 3000 can comprise a slip ring assembly3230 which can be configured to conduct electrical power to and/or fromthe surgical end effector 3500 and/or communicate signals to and/or fromthe surgical end effector 3500, back to a microprocessor 560 in thehandle assembly 500 or robotic system controller, for example as wasdiscussed above. Further details concerning the slip ring assembly 3230and associated connectors may be found in U.S. patent application Ser.No. 13/803,086, now U.S. Patent Application Publication No.2014/0263541, and U.S. patent application Ser. No. 15/019,196 now U.S.Pat. No. 10,413,291, which have each been herein incorporated byreference in their respective entirety as well as in U.S. patentapplication Ser. No. 13/800,067, entitled STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM, now U.S. Patent Application Publication No.2014/0263552, which is hereby incorporated by reference herein in itsentirety.

The illustrated interchangeable surgical tool assembly 3000 also employsa latch system 3220 for removably coupling the interchangeable surgicaltool assembly 3000 to the handle frame 506 of the handle assembly 500,for example. The latch system 3220 may be identical to the latch system1220 described in detail above. The knife bar 4130 may comprise alaminated beam structure that includes at least two beam layers. Suchbeam layers may comprise, for example, stainless steel bands that areinterconnected by, for example, welding or pinning together at theirproximal ends and/or at other locations along their length. Inalternative embodiments, the distal ends of the bands are not connectedtogether to allow the laminates or bands to splay relative to each otherwhen the end effector is articulated. Such arrangement permits the knifebar 4130 to be sufficiently flexible to accommodate articulation of theend effector. Various laminated knife bar arrangements are disclosed inU.S. patent application Ser. No. 15/019,245, entitled SURGICALINSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. Pat.No. 10,470,764, which is hereby incorporated by reference in itsentirety. As can also be seen in FIG. 18, a firing shaft supportassembly 4300 is employed to provide lateral support to the knife bar4130 as it flexes to accommodate articulation of the surgical endeffector 3500. Further details concerning the operation of the firingshaft support assembly 4300 and alternative knife bar supportarrangements may be found in U.S. patent application Ser. No.15/019,245, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONARRANGEMENTS, now U.S. Pat. No. 10,470,764, and U.S. patent applicationSer. No. 15/019,220, entitled SURGICAL INSTRUMENT WITH ARTICULATING ANDAXIALLY TRANSLATABLE END EFFECTOR, now U.S. Pat. No. 10,245,029, whichare each hereby incorporated by reference herein in their respectiveentireties.

As can also be seen in FIG. 18, a firing member or knife member 4140 isattached to the distal end of the knife bar 4130. The firing member 4140is configured to operably interface with a sled assembly 4150 that isoperably supported within the body 3702 of the surgical staple/fastenercartridge 3700. The sled assembly 4150 is slidably displaceable withinthe surgical staple/fastener cartridge body 3702 from a proximalstarting position adjacent the proximal end 3704 of the cartridge body3702 to an ending position adjacent a distal end 3706 of the cartridgebody 3702. The cartridge body 3702 operably supports therein a pluralityof staple drivers (not shown) that are aligned in rows on each side of acentrally disposed slot 3708. The centrally disposed slot 3708 enablesthe firing member 4140 to pass therethrough and cut the tissue that isclamped between the anvil 3810 and the staple cartridge 3700. Thedrivers are associated with corresponding staple pockets 3712 that openthrough the deck surface 3710 of the cartridge body 3702. Each of thestaple drivers supports one or more surgical staple/fastener or fastener(not shown) thereon. The sled assembly 4150 includes a plurality ofsloped or wedge-shaped cams 4152 wherein each cam 4152 corresponds to aparticular line of fasteners or drivers located on a side of the slot3708.

In one exemplary form, the firing member 4140 comprises a body portion4142 that supports a knife or tissue cutting portion 4144. See FIG. 49.The body portion 4142 protrudes through an elongate slot 3604 in theelongate channel 3602 and terminates in a foot member 4146 that extendslaterally on each side of the body portion 4142. As the firing member4140 is driven distally through the surgical staple/fastener cartridge3700, the foot member 4146 rides within a passage 3622 in the elongatechannel 3602 that is located under the surgical staple/fastenercartridge 3700. The tissue cutting portion 4144 is disposed between adistally protruding top nose portion 4143. As can be further seen inFIG. 18, the firing member 4140 may further include two laterallyextending top tabs, pins or anvil engagement features 4147. As thefiring member 4140 is driven distally, a top portion of the body portion4142 extends through a centrally disposed anvil slot 3814 and the anvilengagement features 4147 ride on corresponding ledges 3816 formed oneach side of the anvil slot 3814. Further details concerning the firingmember 4140, sled assembly 4150 and their various alternatives as wellas examples of their operation will be discussed in further detail belowand may also be found in U.S. patent application Ser. No. 15/385,911,entitled SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSINGAND FIRING SYSTEMS, now U.S. Pat. No. 10,448,950. The interchangeablesurgical tool assembly 3000 may be to the handle assembly 500 in themanner as described above with respect to the interchangeable surgicaltool assembly 1000.

Returning again to FIG. 1, as was discussed above, the surgical system10 illustrated in that Figure includes four interchangeable surgicaltool assemblies 1000, 3000, 5000 and 7000 that may each be effectivelyemployed with the same handle assembly 500 to perform different surgicalprocedures. Turning now to FIGS. 19-21, the interchangeable surgicaltool assembly 5000 includes a surgical end effector 5500 that comprisesa first jaw 5600 and a second jaw 5800. In one arrangement, the firstjaw comprises an elongate channel 5602 that is configured to operablysupport a surgical staple/fastener cartridge 5700 therein. The secondjaw 5800 comprises an anvil 5810 that is movably supported relative tothe elongate channel 5602. The interchangeable surgical tool assembly5000 includes an articulation system 5300 that comprises an articulationjoint 5302 and an articulation lock 5400 which can be configured toreleasably hold the surgical end effector 5500 in a desired articulatedposition relative to a shaft axis SA₃. Details regarding theconstruction and operation of the articulation lock 5400 as well asalternative lock configurations and operational details may be found inU.S. patent application Ser. No. 15/385,894, entitled SHAFT ASSEMBLYCOMPRISING A LOCK OUT, now U.S. Pat. No. 10,492,785, the entiredisclosure of which is hereby incorporated by reference herein.Alternative articulation lock arrangements may also be found in U.S.patent application Ser. No. 13/803,086, entitled ARTICULATABLE SURGICALINSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Patent ApplicationPublication No. 2014/0263541 and U.S. patent application Ser. No.15/019,196, filed Feb. 9, 2016, entitled SURGICAL INSTRUMENTARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT, now U.S. Pat.No. 10,413,291, the entire disclosures of each such reference beinghereby incorporated by reference herein.

As can be seen in FIG. 20, the interchangeable surgical tool assembly5000 includes a tool frame assembly 5200 that comprises a tool chassis5210 that operably supports a nozzle assembly 5240 thereon. In one form,the nozzle assembly 5240 is comprised of nozzle portions 5242, 5244 aswell as an actuator wheel portion 5246 that is configured to be coupledto the assembled nozzle portions 5242, 5244 by snaps, lugs, screws etc.The interchangeable surgical tool assembly 5000 includes a proximalclosure assembly 5900 which is operably coupled to a distal closureassembly 6000 that is utilized to close and/or open the anvil 5810 ofthe surgical end effector 5500 as will be discussed in further detailbelow. In addition, the interchangeable surgical tool assembly 5000includes a spine assembly 5250 that operably supports the proximalclosure assembly 5900 and is coupled to the surgical end effector 5500.In the illustrated arrangement, the spine assembly 5250 includes adistal end portion 5280 that has an opening 5281 therein for ease ofassembly. A spine cap 5283 may be attached thereto to cover the opening5281 after the various components have been assembled therein. Inassembled form, a proximal end portion 5253 of the spine assembly 5250is rotatably supported in the tool chassis 5210. In one arrangement, forexample, the proximal end of the proximal end portion 5253 of the spineassembly 5250 is attached to a spine bearing (not shown) that isconfigured to be supported within the tool chassis 5210. Sucharrangement facilitates rotatable attachment of the spine assembly 5250to the tool chassis 5210 such that the spine assembly 5250 may beselectively rotated about the shaft axis SA₃ relative to the toolchassis 5210. In particular, in one arrangement, for example, theproximal end portion 5253 of the spine assembly 5250 includes twodiametrically opposed lug seats 5254 (only one can be seen in FIG. 20)that are each configured to receive a corresponding nozzle lug (notshown) that extend inwardly from each of the nozzle portions 5242, 5244.Such arrangement facilitates rotation of the spine assembly 5250 aboutthe shaft axis SA₃ by rotating the actuator wheel portion 5246 of thenozzle assembly 5240.

Referring now to FIG. 21, the distal end portion 5280 of the spineassembly 5250 is attached to a distal frame segment 5286 that operablysupports the articulation lock 5400 therein. The spine assembly 5250 isconfigured to, one, slidably support a firing member assembly 6110therein and, two, slidably support a proximal closure tube 5910 whichextends around the spine assembly 5250. The spine assembly 5250 can alsobe configured to slidably support a first articulation driver 5310 and asecond articulation driver 5320. As can be seen in FIG. 21, the distalframe segment 5286 is pivotally coupled to a proximal end 5610 of theelongate channel 5602. In one arrangement, for example, the distal endof the distal frame segment 5286 has a pivot pin 5288 formed thereon.The pivot pin 5288 is adapted to be pivotally received within a pivothole 5611 formed in the proximal end portion 5610 of the elongatechannel 5602. The pivot pin 5288 defines an articulation axis AA₃ thatis transverse to the shaft axis SA₃. See FIG. 21. Such arrangementfacilitates pivotal travel (i.e., articulation) of the surgical endeffector 5500 about the articulation axis AA₃ relative to the spineassembly 5250. The distal frame segment 5286 is further configured tosupport the articulation lock 5400 therein.

In the illustrated arrangement, a distal end 5314 of the firstarticulation driver 5310 is formed with a loop 5316 that is adapted toreceive a first articulation pin 5618 therein that is formed on theproximal end portion 5610 of the elongate channel 5602. Similarly, adistal end 5324 of the second articulation driver 5320 has a loop 5326that is adapted to receive a second articulation pin 5619 therein thatis formed on the proximal end portion 5610 of the elongate channel 5602.In one arrangement, for example, the first articulation driver 5310further comprises a proximal rack of teeth 5315 that is in meshingengagement with an idler gear 5330 rotatably supported in the spineassembly 5250. Similarly the second articulation driver 5320 furthercomprises a proximal rack of teeth 5325 that is in meshing engagementwith the idler gear 5330. Thus, in such arrangement, movement of thefirst articulation driver 5310 in the distal direction DD will result inmovement of the second articulation driver 5320 in the proximaldirection PD. Movement of the first articulation driver 5310 in theproximal direction PD will result in the movement of the secondarticulation driver 5320 in the distal direction DD. Thus, such movementof the first and second articulation drivers 5310, 5320 will providesimultaneously pushing and pulling motions to the surgical end effector5500 to articulate the surgical end effector about the articulation axisAA₃.

The anvil 5810 in the illustrated example includes an anvil body 5812that terminates in anvil mounting portion 5820. The anvil mountingportion 5820 is movably supported on the elongate channel 5602 forselective pivotal and vertical travel relative thereto. In theillustrated arrangement, an anvil trunnion 5822 extends laterally out ofeach lateral side of the anvil mounting portion 5820 to be received in acorresponding “open-ended” vertical cradle 5613 formed in upstandingwalls 5612 of the proximal end portion 5610 of the elongate channel5602. Movement of the anvil 5810 relative to the elongate channel 5602is effectuated by axial movement of the proximal closure assembly 5900and the distal closure assembly 6000. In the illustrated arrangement,the proximal closure assembly 5900 comprises the proximal closure tube5910 that has a proximal end 5912 and a distal end 5914. The proximalend 5912 is rotatably supported in a closure shuttle 5940 that isslidably supported within the tool chassis 5210 such that it may beaxially moved relative thereto. In one form, the closure shuttle 5940includes a pair of proximally-protruding hooks 5942 that are configuredfor attachment to the transverse attachment pin 516 that is attached tothe closure linkage assembly 514 of the handle assembly 500. Theproximal end 5912 of the proximal closure tube 5910 is coupled to theclosure shuttle 5940 for relative rotation thereto. For example, aU-shaped connector 5944 is inserted into an annular slot 5916 in theproximal end 5912 and is retained within vertical slots 5946 in theclosure shuttle 5940. Such arrangement serves to attach the proximalclosure assembly 5900 to the closure shuttle 5940 for axial traveltherewith while enabling the proximal closure tube 5910 to rotaterelative to the closure shuttle 5940 about the shaft axis SA₃. As wasdiscussed above in connection with the interchangeable surgical toolassembly 1000, a closure spring (not shown) may extend over the proximalend 5912 of the proximal closure tube 5910 to bias the closure shuttle5940 in the proximal direction PD which can serve to pivot the closuretrigger 512 on the handle assembly 500 (FIG. 2) into the unactuatedposition when the interchangeable surgical tool assembly 5000 isoperably coupled to the handle assembly 500 in the above describedmanner.

As can be seen in FIG. 21, the distal end 5914 of the proximal closuretube 5910 is attached to the distal closure assembly 6000. The distalend 5914 includes upper and lower tangs 5917, 7918 that are configuredto be movably coupled to an end effector closure sleeve or distalclosure tube segment 6030. The distal closure tube segment 6030 includesan upper tang 6032 and a lower tang 6034 that protrude proximally from aproximal end thereof. An upper double pivot link 6060 pivotally couplesthe upper tangs 5917 and 6032 and a lower double pivot link 6064pivotally couples the lower tangs 5918 and 6034 together in theabove-described manner. The distal closure tube segment 6030 includes aninternal cam surface 6036 that is configured to cammingly engage ananvil cam surface 5821 on the anvil mounting portion 5820. The distaladvancement of the distal closure tube segment 6030 on the anvilmounting portion 5820 will result in closure or pivotal travel of theanvil 5810 towards the elongate channel 5602. In the illustratedarrangement, upstanding anvil tabs 5827 are formed on the anvil mountingportion 5820 and are configured to be contacted by two positive jawopening tabs 6038 that extend inwardly within the distal closure tubesegment 6030. Each positive jaw opening tab 6038 is configured to engagea corresponding one of the anvil tabs 5827 to pivot the anvil 5810 to anopen position when the distal closure tube segment 6030 is axially movedin the proximal direction PD.

In the illustrated arrangement, the interchangeable surgical toolassembly 5000 further includes a firing system generally designated as6100. In various instances, the firing system 6100 includes the firingmember assembly 6110 that is supported for axial travel within the spineassembly 5250. In the illustrated embodiment, the firing member assembly6110 includes an intermediate firing shaft portion 6120 that isconfigured for attachment to a distal cutting portion or knife bar 6130.The firing member assembly 6110 may also be referred to herein as a“second shaft” and/or a “second shaft assembly”. As can be seen in FIG.21, the intermediate firing shaft portion 6120 may include alongitudinal slot 6124 in a distal end 6122 thereof which can beconfigured to receive a proximal end 6132 of the knife bar 6130. Thelongitudinal slot 6124 and the proximal end 6132 of the knife bar 6130can be sized and configured to permit relative movement therebetween andcan comprise a slip joint 6134. The slip joint 6134 can permit theintermediate firing shaft portion 6120 of the firing member assembly6110 to be moved to articulate the end effector 5500 without moving, orat least substantially moving, the knife bar 6130 as was discussedabove. In the illustrated arrangement, a proximal end 6127 of theintermediate firing shaft portion 6120 has a firing shaft attachment lug6128 formed thereon that is configured to be seated into an attachmentcradle (not shown) that is on the distal end of the longitudinallymovable drive member (not shown) of the firing drive system 530 withinthe handle assembly 500 as was discussed above. Such arrangementfacilitates the axial movement of the intermediate firing shaft portion6120 upon actuation of the firing drive system 530. Other attachmentconfigurations may also be employed to couple the intermediate firingshaft portion to other firing drive arrangements (e.g., manuallyactuated, robotic, etc.).

Further to the above, the interchangeable tool assembly 5000 can includea shifter assembly 6200 which can be configured to selectively andreleasably couple the first articulation driver 5310 to the firingmember assembly 6110 in the manner described above. In one form, theshifter assembly 6200 includes a lock collar, or lock sleeve 6210,positioned around the intermediate firing shaft portion 6120 of thefiring member assembly 6110 wherein the lock sleeve 6210 can be rotatedbetween an engaged position in which the lock sleeve 6210 couples thefirst articulation driver 5310 to the firing member assembly 6110 and adisengaged position in which the first articulation driver 5310 is notoperably coupled to the firing member assembly 6110. As was discussedabove, the intermediate firing shaft portion 6120 of the firing memberassembly 6110 is formed with a drive notch 6126. The lock sleeve 6210comprises a cylindrical, or an at least substantially cylindrical, bodythat includes a longitudinal aperture that is configured to receive theintermediate firing shaft portion 6120 therethrough. The lock sleeve6210 can comprise diametrically-opposed, inwardly-facing lockprotrusions 6214, 6216 that, when the lock sleeve 6210 is in oneposition, are engagingly received within corresponding portions of thedrive notch 6126 in the intermediate firing shaft portion 6120 and, whenin another position, are not received within the drive notch 6126 tothereby permit relative axial motion between the lock sleeve 6210 andthe intermediate firing shaft 6120 as was discussed in further detailabove. The lock sleeve 6210 further includes a lock member 6218 that issized to be movably received within a notch 5319 in a proximal end ofthe first articulation driver 5310. When the lock sleeve 6210 is in itsengaged position, the lock protrusions 6214, 6216 are positioned withinthe drive notch 6126 in the intermediate firing shaft portion 6120 suchthat a distal pushing force and/or a proximal pulling force can betransmitted from the firing member assembly 6110 to the lock sleeve6210. Such axial pushing or pulling motion is then transmitted from thelock sleeve 6210 to the first articulation driver 5310. Axial movementof the first articulation driver 5310 results in the axial movement ofthe second articulation driver 5320 in an opposite direction to therebyarticulate the surgical end effector 5500.

As was discussed above, in the illustrated example, relative movement ofthe lock sleeve 6210 between its engaged and disengaged positions may becontrolled by the shifter assembly 6200 that interfaces with theproximal closure tube 5910 of the proximal closure assembly 5900. Theshifter assembly 6200 further includes a shifter key 6240 that isconfigured to be slidably received within a key groove (similar to thekey groove 2217 illustrated in FIG. 8) formed in the outer perimeter ofthe lock sleeve 6210. Such arrangement enables the shifter key 6240 tomove axially with respect to the lock sleeve 6210. Operation of theshifter assembly 6200 may be identical to the operation of the shifterassembly 2200 which was described in further detail above and which willnot be repeated again for brevity. Further details, alternativearrangements and drive configurations that may be employed are disclosedin Other arrangements that may be employed are disclosed in U.S. patentapplication Ser. No. 15/385,911, entitled SURGICAL STAPLE/FASTENERS WITHINDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS, now U.S. Pat. No.10,448,950, U.S. patent application Ser. No. 13/803,086, now U.S. PatentApplication Publication No. 2014/0263541, and U.S. patent applicationSer. No. 15/019,196, now U.S. Pat. No. 10,413,291, the as well as otherdisclosures that have bee incorporated herein.

The interchangeable tool assembly 5000 can comprise a slip ring assembly5230 which can be configured to conduct electrical power to and/or fromthe surgical end effector 5500 and/or communicate signals to and/or fromthe surgical end effector 5500, back to a microprocessor 560 in thehandle assembly 500 or robotic system controller, for example as wasdiscussed above. Further details concerning the slip ring assembly 5230and associated connectors may be found in U.S. patent application Ser.No. 13/803,086, now U.S. Patent Application Publication No.2014/0263541, and U.S. patent application Ser. No. 15/019,196, now U.S.Pat. No. 10,413,291, which have each been herein incorporated byreference in their respective entirety as well as in U.S. patentapplication Ser. No. 13/800,067, entitled STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM, now U.S. Patent Application Publication No.2014/0263552, which is hereby incorporated by reference herein in itsentirety.

The illustrated interchangeable surgical tool assembly 5000 also employsa latch system 5220 for removably coupling the interchangeable surgicaltool assembly 5000 to the handle frame 506 of the handle assembly 500,for example. The latch system 5220 may be identical to the latch system1220 described in detail above. The knife bar 6130 may comprise alaminated beam structure that includes at least two beam layers. Suchbeam layers may comprise, for example, stainless steel bands that areinterconnected by, for example, welding or pinning together at theirproximal ends and/or at other locations along their length. Inalternative embodiments, the distal ends of the bands are not connectedtogether to allow the laminates or bands to splay relative to each otherwhen the end effector is articulated. Such arrangement permits the knifebar 6130 to be sufficiently flexible to accommodate articulation of theend effector. Various laminated knife bar arrangements are disclosed inU.S. patent application Ser. No. 15/019,245, entitled SURGICALINSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. Pat.No. 10,470,764, which is hereby incorporated by reference in itsentirety. As can also be seen in FIG. 21, a firing shaft supportassembly 6300 is employed to provide lateral support to the knife bar6130 as it flexes to accommodate articulation of the surgical endeffector 5500. Further details concerning the operation of the firingshaft support assembly 6300 and alternative knife bar supportarrangements may be found in U.S. patent application Ser. No.15/019,245, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONARRANGEMENTS, now U.S. Pat. No. 10,470,764, and U.S. patent applicationSer. No. 15/019,220, entitled SURGICAL INSTRUMENT WITH ARTICULATING ANDAXIALLY TRANSLATABLE END EFFECTOR, now U.S. Pat. No. 10,245,029, whichare each hereby incorporated by reference herein in their respectiveentireties.

As can also be seen in FIGS. 21 and 50, a firing member or knife member6140 is attached to the distal end of the knife bar 6130. The firingmember 6140 is configured to operably interface with a sled assembly6150 that is operably supported within the body 5702 of the surgicalstaple/fastener cartridge 5700. The sled assembly 6150 is slidablydisplaceable within the surgical staple/fastener cartridge body 5702from a proximal starting position adjacent a proximal end 5704 of thecartridge body 5702 to an ending position adjacent a distal end 5706 ofthe cartridge body 5702. The cartridge body 5702 operably supportstherein a plurality of staple drivers (not shown) that are aligned inrows on each side of a centrally disposed slot 5708. The centrallydisposed slot 5708 enables the firing member 6140 to pass therethroughand cut the tissue that is clamped between the anvil 5810 and the staplecartridge 5700. The drivers are associated with corresponding staplepockets that open through the upper deck surface of the cartridge body5702. Each of the staple drivers supports one or more surgicalstaple/fastener or fastener (not shown) thereon. The sled assemblyincludes a plurality of sloped or wedge-shaped cams 6152 wherein eachcam corresponds to a particular line of fasteners or drivers located ona side of the slot 5708.

In one exemplary form, the firing member 6140 comprises a body portion6142 that supports a knife or tissue cutting portion 6144. See FIG. 50.The body portion 6142 protrudes through an elongate slot 5604 in theelongate channel 5602 and terminates in a foot member 6146 that extendslaterally on each side of the body portion 6142. As the firing member6140 is driven distally through the surgical staple/fastener cartridge5700, the foot member 6146 rides within a passage 5622 in the elongatechannel 5602 that is located under the surgical staple/fastenercartridge 5700. The tissue cutting portion 6144 is disposed between adistally protruding top nose portion 6143. As can be further seen inFIGS. 21 and 50, the firing member 6140 may further include twolaterally extending top tabs, pins or anvil engagement features 6147. Asthe firing member 6140 is driven distally, a top portion of the bodyportion 6142 extends through a centrally disposed anvil slot 5814 andthe anvil engagement features 6147 ride on corresponding ledges 5816formed on each side of the anvil slot 5814. Further details concerningthe firing member 6140, sled assembly 6150, and their variousalternatives as well as examples of their operation will be discussed infurther detail below and may also be found in U.S. patent applicationSer. No. 15/385,911, entitled SURGICAL STAPLE/FASTENERS WITHINDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS, now U.S. Pat. No.10,448,950. The interchangeable surgical tool assembly 5000 may beoperably coupled to the handle assembly 500 in the manner as describedabove with respect to the interchangeable surgical tool assembly 1000.

Returning again to FIG. 1, as was discussed above, the surgical system10 illustrated in that Figure includes four interchangeable surgicaltool assemblies 1000, 3000, 5000 and 7000 that may each be effectivelyemployed with the same handle assembly 500 to perform different surgicalprocedures. Turning now to FIGS. 22-24, the interchangeable surgicaltool assembly 7000 includes a surgical end effector 7500 that comprisesa first jaw 7600 and a second jaw 7800. In one arrangement, the firstjaw comprises an elongate channel 7602 that is configured to operablysupport a surgical staple/fastener cartridge 7700 therein. The secondjaw 7800 comprises an anvil 7810 that is movably supported relative tothe elongate channel 7602. The interchangeable surgical tool assembly7000 includes an articulation system 7300 that comprises an articulationjoint 7302 and an articulation lock 7400 which can be configured toreleasably hold the surgical end effector 7500 in a desired articulatedposition relative to a shaft axis SA₄. Details regarding theconstruction and operation of the articulation lock 7400 as well asalternative lock configurations and operational details may be found inU.S. patent application Ser. No. 13/803,086, entitled ARTICULATABLESURGICAL INSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. PatentApplication Publication No. 2014/0263541, the entire disclosure of whichis hereby incorporated by reference herein. Additional detailsconcerning the articulation lock 7400 and/or alternative articulationlock arrangements may also be found in U.S. patent application Ser. No.15/019,196, filed Feb. 9, 2016, entitled SURGICAL INSTRUMENTARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT, now U.S. Pat.No. 10,413,291, the entire disclosure of which is hereby incorporated byreference herein.

As can be seen in FIG. 24, the interchangeable surgical tool assembly7000 includes a tool frame assembly 7200 that comprises a tool chassis7210 that operably supports a nozzle assembly 7240 thereon. In one form,the nozzle assembly 7240 is comprised of nozzle portions 7242, 7244 aswell as an actuator wheel portion 7246 that is configured to be coupledto the assembled nozzle portions 7242, 7244 by snaps, lugs, screws etc.The interchangeable surgical tool assembly 7000 includes a proximalclosure assembly 7900 which is operably coupled to a distal closureassembly 8000 that is utilized to close and/or open the anvil 7810 ofthe surgical end effector 7500 as will be discussed in further detailbelow. In addition, the interchangeable surgical tool assembly 7000includes a spine assembly 7250 that operably supports the proximalclosure assembly 7900 and is coupled to the surgical end effector 3500.In the illustrated arrangement, the spine assembly 7250 includes adistal end portion 7280 that has an opening 7281 therein for ease ofassembly. A spine cap 7283 may be attached thereto to cover the opening7281 after the various components have been assembled therein. Inassembled form, a proximal end portion 7253 of the spine assembly 7250is rotatably supported in the tool chassis 7210. In one arrangement, forexample, the proximal end of the proximal end portion 7253 of the spineassembly 7250 is attached to a spine bearing (not shown) that isconfigured to be supported within the tool chassis 7210. Sucharrangement facilitates rotatable attachment of the spine assembly 7250to the tool chassis 7210 such that the spine assembly 7250 may beselectively rotated about the shaft axis SA₄ relative to the toolchassis 7210. In particular, in one arrangement, for example, theproximal end portion 7253 of the spine assembly 7250 includes twodiametrically opposed lug seats 7254 (only one can be seen in FIG. 23)that are each configured to receive a corresponding nozzle lug (notshown) that extend inwardly from each of the nozzle portions 7242, 7244.Such arrangement facilitates rotation of the spine assembly 7250 aboutthe shaft axis SA₄ by rotating the actuator wheel portion 7246 of thenozzle assembly 7240.

Referring now to FIG. 24, the distal end portion 7280 of the spineassembly 7250 is attached to a distal frame segment 7286 that operablysupports the articulation lock 7400 therein. The spine assembly 7250 isconfigured to, one, slidably support a firing member assembly 8110therein and, two, slidably support a proximal closure tube 7910 whichextends around the spine assembly 7250. The spine assembly 7250 can alsobe configured to slidably support a proximal articulation driver 7310.As can be seen in FIG. 24, the distal frame segment 7286 is pivotallycoupled to the elongate channel 7602 by an end effector mountingassembly 7290. In one arrangement, for example, the distal end of thedistal frame segment 7286 has a pivot pin 7288 formed thereon. The pivotpin 7288 is adapted to be pivotally received within a pivot hole 7292formed in pivot base portion 7291 of the end effector mounting assembly7290. The end effector mounting assembly 7290 is attached to a proximalend portion 7610 of the elongate channel 7602 by a spring pin 7620 orother suitable member that is received within mounting holes 7611 in theproximal end portion 7610. The pivot pin 7288 defines an articulationaxis AA₄ that is transverse to the shaft axis SA₄. See FIG. 24. Sucharrangement facilitates pivotal travel (i.e., articulation) of thesurgical end effector 7500 about the articulation axis AA₄ relative tothe spine assembly 7250. The distal frame segment 7286 is furtherconfigured to support the articulation lock 7400 therein. Variousarticulation lock arrangements may be employed. At least one form ofarticulation lock 7400 is described in further detail in U.S. patentapplication Ser. No. 13/803,086, entitled ARTICULATABLE SURGICALINSTRUMENT COMPRISING AN ARTICULATION LOCK, now U.S. Patent ApplicationPublication No. 2014/0263541, the entire disclosure of which is herebyincorporated by reference herein. Additional details concerning thearticulation lock may also be found in U.S. patent application Ser. No.15/019,196, filed Feb. 9, 2016, entitled SURGICAL INSTRUMENTARTICULATION MECHANISM WITH SLOTTED SECONDARY CONSTRAINT, now U.S. Pat.No. 10,413,291.

In the illustrated example, the surgical end effector 7500 is electivelyarticulatable about the articulation axis AA₄ by the articulation system7300. In one form, the articulation system 7300 includes the proximalarticulation driver 7310 that operably interfaces with the articulationlock 7400. The articulation lock 7400 includes an articulation frame7402 that is adapted to operably engage a drive pin 7293 on the pivotbase portion 7291 of the end effector mounting assembly 7290. Inaddition, a cross link 7294 may be linked to the drive pin 7293 andarticulation frame 7402 to assist articulation of the surgical endeffector 7500. As indicated above, further details regarding theoperation of the articulation lock 7400 and the articulation frame 7402may be found in U.S. patent application Ser. No. 13/803,086, now U.S.Patent Application Publication No. 2014/0263541. Further detailsregarding the end effector mounting assembly and cross link 7294 may befound in U.S. patent application Ser. No. 15/019,245, filed Feb. 9,2016, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONARRANGEMENTS, now U.S. Pat. No. 10,470,764, the entire disclosure ofwhich is hereby incorporated by reference herein. As further describedtherein, as well as in other disclosures incorporated by referenceherein, axial movement of proximal articulation driver 7310 will resultin the engagement/disengagement of the articulation lock 7400 to therebyapply articulation motions to the elongate channel 7602 and therebycause the surgical end effector 7500 to articulate about thearticulation axis AA₄ relative to the spine assembly 7250.

The anvil 7810 in the illustrated example includes an anvil body 7812that terminates in anvil mounting portion 7820. The anvil mountingportion 7820 is movably supported on the elongate channel 7602 forselective pivotal and axial travel relative thereto. In the illustratedarrangement, an anvil trunnion 7822 extends laterally out of eachlateral side of the anvil mounting portion 7820 to be received in acorresponding “kidney-shaped” opening 7613 formed in upstanding walls7612 of the proximal end portion 7610 of the elongate channel 7602.Movement of the anvil 7810 relative to the elongate channel 7602 iseffectuated by axial movement of the proximal closure assembly 7900 andthe distal closure assembly 8000. In the illustrated arrangement, theproximal closure assembly 7900 comprises the proximal closure tube 7910that has a proximal end 7912 and a distal end 7914. The proximal end7912 is rotatably supported in a closure shuttle 7940 that is slidablysupported within the tool chassis 7210 such that it may be axially movedrelative thereto. In one form, the closure shuttle 7940 includes a pairof proximally-protruding hooks 7942 that are configured for attachmentto the transverse attachment pin 516 that is attached to the closurelinkage assembly 514 of the handle assembly 500. The proximal end 7912of the proximal closure tube 7910 is coupled to the closure shuttle 7940for relative rotation thereto. For example, a U-shaped connector 7944 isinserted into an annular slot 7916 in the proximal end 7912 of theproximal closure tube 7910 and is retained within vertical slots 7946 inthe closure shuttle 7940. Such arrangement serves to attach the proximalclosure assembly 7900 to the closure shuttle 7940 for axial traveltherewith while enabling the proximal closure tube 7910 to rotaterelative to the closure shuttle 7940 about the shaft axis SA₄. As wasdiscussed above in connection with the interchangeable surgical toolassembly 1000, a closure spring (not shown) may extend over the proximalend 7912 of the proximal closure tube 7910 to bias the closure shuttle7940 in the proximal direction PD which can serve to pivot the closuretrigger 512 on the handle assembly 500 (FIG. 2) into the unactuatedposition when the interchangeable surgical tool assembly 7000 isoperably coupled to the handle assembly 500 in the above describedmanner.

As can be seen in FIG. 24, the distal end 7914 of the proximal closuretube 3910 is attached to the distal closure assembly 8000. The distalend 7914 includes upper and lower tangs 7917, 7918 that are configuredto be movably coupled to an end effector closure sleeve or distalclosure tube segment 8030. The distal closure tube segment 8030 includesan upper tang 8032 and a lower tang 8034 that protrude proximally from aproximal end thereof. An upper double pivot link 8060 pivotally couplesthe upper tangs 7917 and 8032 and a lower double pivot link 8064pivotally couples the lower tangs 7918 and 8034 together in theabove-described manner. The distal advancement of the distal closuretube segment 8030 on the anvil mounting portion 7820 will result inclosure or pivotal travel of the anvil 7810 towards the elongate channel7602. In the illustrated arrangement, an upstanding anvil tab 7824 isformed on the anvil mounting portion 7820 and extends into ahorseshoe-shaped opening 8038. Opening 8038 defines an opening tab 8039configured to operably interface with the anvil tab 7824 as the distalclosure tube is retracted in the distal direction. Such interactionbetween the opening tab 8039 and the anvil tab 7824 applies an openingmotion to the anvil 7810 to thereby cause the anvil 7810 to move to anopen position.

In the illustrated arrangement, the interchangeable surgical toolassembly 7000 further includes a firing system generally designated as8100. In various instances, the firing system 8100 includes the firingmember assembly 8110 that is supported for axial travel within the spineassembly 7250. In the illustrated embodiment, the firing member assembly8110 includes an intermediate firing shaft portion 8120 that isconfigured for attachment to a distal cutting portion or knife bar 8130.The firing member assembly 8110 may also be referred to herein as a“second shaft” and/or a “second shaft assembly”. As can be seen in FIG.24, the intermediate firing shaft portion 8120 may include alongitudinal slot 8124 in a distal end 8122 thereof which can beconfigured to receive a proximal end 8132 of the knife bar 8130. Thelongitudinal slot 8124 and the proximal end 8132 of the knife bar 8130can be sized and configured to permit relative movement therebetween andcan comprise a slip joint 8134. The slip joint 8134 can permit theintermediate firing shaft portion 8120 of the firing member assembly8110 to be moved to articulate the end effector 7500 without moving, orat least substantially moving, the knife bar 8130 as was discussedabove. In the illustrated arrangement, a proximal end 8127 of theintermediate firing shaft portion 8120 has a firing shaft attachment lug8128 formed thereon that is configured to be seated into an attachmentcradle (not shown) that is on the distal end of the longitudinallymovable drive member (not shown) of the firing drive system 530 withinthe handle assembly 500 as was discussed above. Such arrangementfacilitates the axial movement of the intermediate firing shaft portion8120 upon actuation of the firing drive system 530. Other attachmentconfigurations may also be employed to couple the intermediate firingshaft portion to other firing drive arrangements (e.g., manuallyactuated, robotic, etc.).

Further to the above, the interchangeable tool assembly 7000 can includea shifter assembly 8200 which can be configured to selectively andreleasably couple the proximal articulation driver 7310 to the firingmember assembly 8110 in the manner described above. In one form, theshifter assembly 8200 includes a lock collar, or lock sleeve 8210,positioned around the intermediate firing shaft portion 8120 of thefiring member assembly 8110 wherein the lock sleeve 8210 can be rotatedbetween an engaged position in which the lock sleeve 8210 couples theproximal articulation driver 7310 to the firing member assembly 8110 anda disengaged position in which the proximal articulation driver 7310 isnot operably coupled to the firing member assembly 8110. As wasdiscussed above, the intermediate firing shaft portion 8120 of thefiring member assembly 8110 is formed with a drive notch 8126. The locksleeve 8210 comprises a cylindrical, or an at least substantiallycylindrical, body that includes a longitudinal aperture that isconfigured to receive the intermediate firing shaft portion 8120therethrough. The lock sleeve 8210 can comprise diametrically-opposed,inwardly-facing lock protrusions 8214, 8216 that, when the lock sleeve8210 is in one position, are engagingly received within correspondingportions of the drive notch 8126 in the intermediate firing shaftportion 8120 and, when in another position, are not received within thedrive notch 8126 to thereby permit relative axial motion between thelock sleeve 8210 and the intermediate firing shaft 8120 as was discussedin further detail above. The lock sleeve 8210 further includes a lockmember 8218 that is sized to be movably received within a notch 7319 ina proximal end of the proximal articulation driver 7310. When the locksleeve 8210 is in its engaged position, the lock protrusions 8214, 8216are positioned within the drive notch 7126 in the intermediate firingshaft portion 8120 such that a distal pushing force and/or a proximalpulling force can be transmitted from the firing member assembly 8110 tothe lock sleeve 8210. Such axial pushing or pulling motion is thentransmitted from the lock sleeve 8210 to the proximal articulationdriver 7310 to thereby articulate the surgical end effector 7500.

As was discussed above, in the illustrated example, relative movement ofthe lock sleeve 8210 between its engaged and disengaged positions may becontrolled by the shifter assembly 8200 that interfaces with theproximal closure tube 7910 of the proximal closure assembly 7900. Theshifter assembly 8200 further includes a shifter key 8240 that isconfigured to be slidably received within a key groove (similar to thekey groove 2217 illustrated in FIG. 8) formed in the outer perimeter ofthe lock sleeve 8210. Such arrangement enables the shifter key 8240 tomove axially with respect to the lock sleeve 8210. Operation of theshifter assembly 8200 may be identical to the operation of the shifterassembly 2200 which was described in further detail above and which willnot be repeated again for brevity. Further details, alternativearrangements and drive configurations that may be employed are disclosedin Other arrangements that may be employed are disclosed in U.S. patentapplication Ser. No. 15/385,911, entitled SURGICAL STAPLE/FASTENERS WITHINDEPENDENTLY ACTUATABLE CLOSING AND FIRING SYSTEMS, now U.S. Pat. No.10,448,950, U.S. patent application Ser. No. 13/803,086, now U.S. PatentApplication Publication No. 2014/0263541, and U.S. patent applicationSer. No. 15/019,196, now U.S. Pat. No. 10,413,291, the as well as otherdisclosures that have bee incorporated herein.

The interchangeable tool assembly 7000 can comprise a slip ring assembly7230 which can be configured to conduct electrical power to and/or fromthe surgical end effector 7500 and/or communicate signals to and/or fromthe surgical end effector 7500, back to a microprocessor 560 in thehandle assembly 500 or robotic system controller, for example as wasdiscussed above. Further details concerning the slip ring assembly 7230and associated connectors may be found in U.S. patent application Ser.No. 13/803,086, now U.S. Patent Application Publication No.2014/0263541, and U.S. patent application Ser. No. 15/019,196, now U.S.Pat. No. 10,413,291, which have each been herein incorporated byreference in their respective entirety as well as in U.S. patentapplication Ser. No. 13/800,067, entitled STAPLE CARTRIDGE TISSUETHICKNESS SENSOR SYSTEM, now U.S. Patent Application Publication No.2014/0263552, which is hereby incorporated by reference herein in itsentirety.

The illustrated interchangeable surgical tool assembly 7000 also employsa latch system 7220 for removably coupling the interchangeable surgicaltool assembly 7000 to the handle frame 506 of the handle assembly 500,for example. The latch system 7220 may be identical to the latch system1220 described in detail above. The knife bar 8130 may comprise alaminated beam structure that includes at least two beam layers. Suchbeam layers may comprise, for example, stainless steel bands that areinterconnected by, for example, welding or pinning together at theirproximal ends and/or at other locations along their length. Inalternative embodiments, the distal ends of the bands are not connectedtogether to allow the laminates or bands to splay relative to each otherwhen the end effector is articulated. Such arrangement permits the knifebar 8130 to be sufficiently flexible to accommodate articulation of theend effector. Various laminated knife bar arrangements are disclosed inU.S. patent application Ser. No. 15/019,245, entitled SURGICALINSTRUMENTS WITH CLOSURE STROKE REDUCTION ARRANGEMENTS, now U.S. Pat.No. 10,470,764, which is hereby incorporated by reference in itsentirety. As can also be seen in FIG. 24, a firing shaft supportassembly 8300 is employed to provide lateral support to the knife bar8130 as it flexes to accommodate articulation of the surgical endeffector 7500. Further details concerning the operation of the firingshaft support assembly 8300 and alternative knife bar supportarrangements may be found in U.S. patent application Ser. No.15/019,245, entitled SURGICAL INSTRUMENTS WITH CLOSURE STROKE REDUCTIONARRANGEMENTS, now U.S. Pat. No. 10,470,764, and U.S. patent applicationSer. No. 15/019,220, entitled SURGICAL INSTRUMENT WITH ARTICULATING ANDAXIALLY TRANSLATABLE END EFFECTOR, now U.S. Pat. No. 10,245,029, whichare each hereby incorporated by reference herein in their respectiveentireties.

As can also be seen in FIG. 24, a firing member or knife member 8140 isattached to the distal end of the knife bar 8130. The firing member 8140is configured to operably interface with a sled assembly 8150 that isoperably supported within the body 7702 of the surgical staple/fastenercartridge 7700. See FIG. 51. The sled assembly 8150 is slidablydisplaceable within the surgical staple/fastener cartridge body 7702from a proximal starting position adjacent a proximal end 7704 of thecartridge body 7702 to an ending position adjacent a distal end 7706 ofthe cartridge body 7702. The cartridge body 7702 operably supportstherein a plurality of staple drivers (not shown) that are aligned inrows on each side of a centrally disposed slot 7708. The centrallydisposed slot 7708 enables the firing member 8140 to pass therethroughand cut the tissue that is clamped between the anvil 7810 and the staplecartridge 7700. The drivers are associated with corresponding staplepockets that open through the upper deck surface of the cartridge body7702. Each of the staple drivers supports one or more surgicalstaple/fastener or fastener (not shown) thereon. The sled assemblyincludes a plurality of sloped or wedge-shaped cams wherein each camcorresponds to a particular line of fasteners or drivers located on aside of the slot 7708.

In one exemplary form, the firing member 8140 comprises a body portion8142 that supports a knife or tissue cutting portion 8144. See FIG. 51.The body portion 8142 protrudes through an elongate slot 7604 in theelongate channel 7602 and terminates in a foot member 8146 that extendslaterally on each side of the body portion 8142. As the firing member8140 is driven distally through the surgical staple/fastener cartridge7700, the foot member 8146 rides within a passage 7622 in the elongatechannel 7602 that is below the staple cartridge 7700. The tissue cuttingportion 8144 is disposed between a distally protruding top nose portion8143. As can be further seen in FIG. 24, the firing member 8140 mayfurther include two laterally extending top tabs, pins or anvilengagement features 8147. As the firing member 8140 is driven distally,a top portion of the body portion 8142 extends through a centrallydisposed anvil slot 7814 and the anvil engagement features 8147 ride oncorresponding ledges 7816 formed on each side of the anvil slot 7814.Further details concerning the firing member 8140, sled assembly 8150,and their various alternatives as well as examples of their operationwill be discussed in further detail below and may also be found in U.S.patent application Ser. No. 15/385,911, entitled SURGICALSTAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING AND FIRINGSYSTEMS, now U.S. Pat. No. 10,448,950. The interchangeable surgical toolassembly 7000 may be operably coupled to the handle assembly 500 in themanner as described above with respect to the interchangeable surgicaltool assembly 1000.

As can be appreciated from the foregoing descriptions, theinterchangeable surgical tool assemblies described herein may beactuated by the same handle assembly, robotic system or other automatedactuation system. All of the above described interchangeable surgicaltool assemblies comprise surgical cutting and fastening instruments thathave somewhat similar closure and firing components. However, theclosure and firing systems and components of each of these toolassemblies have differences that may seem somewhat subtle at firstblush, but, as will be further discussed below, such differences canresult in significant improvements in the material composition, design,construction, manufacture and use of such tools. As will become apparentas the present Detailed Description proceeds, the interchangeablesurgical tool assembly 1000 contains subtle design differences whencompared to the other interchangeable surgical tool assemblies 3000,5000, 7000 described herein that can result in significant improvementsin the overall functionality, reliability, and cost of the toolassembly. Moreover, we have discovered that, in some cases, asynergistic effect exists between certain component arrangementsemployed by the tool assembly 1000 which can further enhance the overallefficiency and functionality of the tool assembly 1000. In order tobetter understand these differences and improvements, certain componentsand systems of each of the tool assemblies 1000, 3000, 5000, 7000 willnow be further described and compared to each other below.

For example, each of the interchangeable surgical tool assemblies 1000,3000, 5000, 7000 must be able to apply a sufficient amount of closureforce to cause the jaws to sufficiently clamp the target tissue so as topermit the firing member to properly treat the clamped tissue uponactuation of the firing drive system. For example, in the illustratedassemblies, the respective closure system components must be able toclamp the anvil and surgical staple/fastener cartridge onto the targettissue to enable the firing member to properly sever the clamped tissueand eject lines of staples or fasteners on each side of the tissue cutline. Depending upon the thickness and composition of the target tissue,significant closure forces and firing forces are often required. Thus,the closure and firing drive systems in the handle assembly housing,robotic housing, etc. must be able to generate such forces of sufficientmagnitude (through the use of a motor or manually generated motion, forexample) to sufficiently close the jaws and fire the firing memberthrough the clamped tissue. Such procedures further require that thecomponents within the interchangeable shaft assemblies to besufficiently robust to accommodate the magnitudes of the forces beingtransmitted therethrough. In the past, the magnitudes of such forcesoften dictated that the closure system components, as well as the firingsystem components, be fabricated from metal or other suitable materialswith relatively large cross-sectional thicknesses and of substantialreinforced configurations.

The tissue loads encountered during the clamping process typicallycreate a large “moment” about the anvil pivot axis PA. The closuresystem components must be designed to counteract such moment. In variouscircumstances, for example, a moment about the anvil pivot axis PA inthe opposite direction is needed. To maximize the efficiency of thesystem (e.g., minimize the magnitude of the force applied), the largestpractical moment arm is desired. However, as will be further discussedbelow, there are trade-offs with other design variables when seeking toestablish a large counter moment. For example, there is a balancebetween the distance from the articulation joint to the first staple andthe length of the moment arm for a closure system where the firing andclosing systems are separate and distinct. The larger the moment arm ofthe closure system, the more efficiently it handles clamp loads andtissue compression. However, the distance between the articulation jointand the first staple may have a large impact on the access of thesurgical end effector as it is positioned into tight spaces within alaparoscopic environment.

FIGS. 25-32 illustrate exemplary moment arms for each of the surgicalend effectors 1500, 3500, 5500, 7500. Turning first to FIG. 25, as wasdescribed above, the anvil trunnions 1822 extend laterally out of eachlateral side of the anvil mounting portion 1820 to be received in acorresponding trunnion cradle 1614 formed in the upstanding walls 1612of the proximal end portion 1610 of the elongate channel 1602. The anviltrunnions 1822 are pivotally retained in their corresponding trunnioncradle 1614 by the channel cap or anvil retainer 1630. The channel cap1630 includes a pair of attachment lugs 1636 that are configured to beretainingly received within corresponding lug grooves or notches 1616formed in the upstanding walls 1612 of the proximal end portion 1610 ofthe elongate channel 1602. Such arrangement constrains the anvil 1810 toonly pivot about the pivot axis PA₁ (see FIG. 3). Under sucharrangement, the anvil mounting portion 1820 does not move axially orvertically. As the distal closure tube segment 2030 is advanced in thedistal direction DD under a horizontal closure force F_(H1) (FIG. 26),the interaction between an internal cam surface 2036 on the distalclosure tube segment 2030 and an anvil cam surface 1821 on the anvilmounting portion 1820 results in the application of a closure forceF_(C1) to the anvil cam surface 1821. The closure force F_(C1) comprisesthe resultant force of the horizontal closure force F_(H1) and avertical closure force F_(V1) and is essentially “normal to” orperpendicular to the cam surface 1821 on the anvil mounting portion1820. See FIG. 26. M_(A1) represents a closure moment arm from the anvilpivot axis PA₁ (coincident with the center of anvil trunnions 1822) tothe point of contact between the internal cam surface 2036 on the distalclosure tube segment 2030 and the anvil cam surface 1821 on the anvilmounting portion 1820 when the anvil 1810 has been pivoted to the fullyclosed position. In one example, the closure moment arm M_(A1) may beapproximately 0.415 inches, for example. M_(A1)×F_(C1)=a closure momentC_(M1) that is applied to the anvil mounting portion 1820.

To ensure that the each side of the tissue cut line is fastened withstaples or fasteners extending from the proximal end to the distal endof the tissue cutline, a proximal end portion 1818 of the anvil body1812 is formed with two tissue stop formations or tissue locatingfeatures 1830 that extend downwardly from each lateral side of the anvilbody 1812 (only one tissue stop formation 1830 may be seen in FIGS. 25and 26). When the anvil 1810 is opened to receive the target tissuebetween the underside of the anvil and the cartridge deck surface, thedownwardly extending tissue stop 1830 serve to prevent the target tissuefrom extending proximally past the proximal most staples/fasteners inthe surgical staple/fastener cartridge 1700. If the tissue were toextend proximally beyond the proximal most staples/fasteners, thatportion of tissue may be severed by the firing member during the firingprocess and may not be fastened which may lead to catastrophic results.The downwardly extending tissue stops 1830 may prevent this fromhappening. In the embodiment depicted in FIG. 26, for example, theproximal-most staple/fastener pockets 1720 are shown in phantom linesrelative to the tissue stops 1830. As can be seen in that Figure, thetissue stop 1830 has a downwardly extending portion 1832 and a chamferedportion 1834. The target tissue is contacted by the portions 1832, 1834to prevent the target tissue from extending proximally beyond theproximal most staples/fasteners that are supported in the proximal moststaple/fastener pockets 1720 in the staple/fastener cartridge body 1702.

Returning again to FIG. 25, as the anvil 1810 is pivoted closed onto thetarget tissue (not shown) that is positioned between the underside ortissue contacting surface 1813 of the anvil body 1812, the tissueapplies tissue forces T_(F1) to the underside 1813 of the anvil body1812 which cause the anvil 1810 to experience a tissue counter momentCTS that must be overcome by the closure moment C_(M1) established bythe closure system components. The example depicted in FIG. 25illustrates equally distributed tissue forces T_(F1) on the anvil 1810and a tissue moment arm M_(T1) established by the clamped tissue (theclamped tissue is not shown in FIG. 25 for clarity purposes). As can beseen in that Figure, in that example, the tissue moment arm M_(T1) isconsiderably longer than the closure moment arm M_(A1) (i.e.,M_(T1)>M_(A1)).

Turning next to FIGS. 27 and 28, as was described above, the anviltrunnions 3822 of the anvil 3810 of the interchangeable surgical toolassembly 3000 extend laterally out of each lateral side of the anvilmounting portion 3820 to be received in corresponding trunnion holes3613 formed in the upstanding walls 3612 of the proximal end portion3610 of the elongate channel 3602. Such arrangement constrains the anvil3810 to only pivot about the anvil pivot axis PA₂ (see FIG. 18). Undersuch arrangement, the anvil mounting portion 3820 does not move axiallyor vertically. As the distal closure tube segment 4030 is advanced inthe distal direction DD under a horizontal closure force F_(H2) (FIG.28), the interaction between an internal cam surface 4036 on the distalclosure tube segment 4030 and an anvil cam surface 3821 on the anvilmounting portion 3820 results in the application of a closure forceF_(C2) to the anvil cam surface 3821. The closure force F_(C2) comprisesthe resultant force of the horizontal closure force F_(H2) and avertical closure force F_(V2) and is essentially “normal to” orperpendicular to the anvil cam surface 3821 on the anvil mountingportion 3820. See FIG. 28. M_(A2) represents the closure moment arm fromthe anvil pivot axis PA₂ (center of anvil trunnions 3822) to the pointof contact between the internal cam surface 4036 on the distal closuretube 4030 and the anvil cam surface 3821 on the anvil mounting portion3820 when the anvil 3810 has been pivoted to the fully closed position.In one example, closure moment arm M_(A2) may be approximately 0.539inches, for example. M_(A2)×F_(C2)=a closure moment C_(M2) that isapplied to the anvil mounting portion 3820.

In the example depicted in FIGS. 27 and 28, the anvil body 3812 isformed with two tissue stop formations or tissue locating features 3830that extend downwardly from each lateral side of the anvil body 3812(only one tissue stop formation 3830 may be seen in FIGS. 27 and 28).When the anvil 3810 is opened to receive the target tissue between theunderside of the anvil and the cartridge deck surface, the downwardlyextending tissue stop formations 3830 serve to prevent the target tissuefrom extending proximally past the proximal most staples/fasteners inthe surgical staple/fastener/fastener cartridge 3700. In the embodimentdepicted in FIG. 28, for example, the proximal-most staple pockets 3720are shown in phantom lines relative to the tissue stop formations 3830.As can be seen in that Figure, the tissue stop formation 3830 has adownwardly extending portion 3832 and a chamfered portion 3834. Thetarget tissue is contacted by the portions 3832, 3834 to prevent thetarget tissue from extending proximally beyond the proximal moststaples/fasteners that are supported in the proximal-moststaple/fastener pockets 3720 in the staple/fastener cartridge body 3702.

Returning again to FIG. 27, as the anvil 3810 is pivoted closed onto thetarget tissue (not shown) that is positioned between the underside ortissue contacting surface 3813 of the anvil body 3812, the tissueapplies tissue forces T_(F2) to the underside 3813 of the anvil body3812 which cause the anvil 3810 to experience a tissue counter momentC_(T2) that must be overcome by the closure moment C_(M2) established bythe closure system components. The example depicted FIG. 27 illustratesequally distributed tissue forces T_(F2) on the anvil 3810 and a tissuemoment arm M_(T2) established by the clamped tissue (the clamped tissueis not shown in FIG. 27 for clarity purposes). As can be seen in thatFigure, in that example, the tissue moment arm M_(T2) is considerablylonger than the closure moment arm M_(A2) (i.e., M_(T2)>M_(A2)).

Turning next to FIGS. 29 and 30, as was described above, the anviltrunnions 5822 of the anvil 5810 of the interchangeable surgical toolassembly 5000 extend laterally out of each lateral side of the anvilmounting portion 5820 to be received in the corresponding “open-ended”vertical cradle 5613 formed in the upstanding walls 5612 of the proximalend portion 5610 of the elongate channel 5602. In this arrangement, theanvil trunnions 5822 are free to pivot within their respective cradles5613 as the distal closure tube segment 6030 cammingly contacts theanvil cam surface 5821 on the anvil mounting portion 5820. Under sucharrangement, the anvil 5810 does not move axially, but the anviltrunnions 5822 are free to move vertically (arrow V) within theirrespective cradles 5613. As the distal closure tube segment 6030 isadvanced in the distal direction DD under the horizontal closure forceF_(H3) (FIG. 30), the interaction between an internal cam surface 6036on the distal closure tube segment 6030 and the anvil cam surface 5821on the anvil mounting portion 5820 results in the application of aclosure force F_(C3) to the anvil cam surface 5821. The closure forceF_(C3) comprises the resultant force of the horizontal closure forceF_(H3) and a vertical closure force F_(V3) and is essentially “normalto” or perpendicular to the anvil cam surface 5821 on the anvil mountingportion 5820. See FIG. 30. M_(A3) represents the closure moment arm fromthe anvil pivot axis PA₃ (coincident with the center of anvil trunnions5822) to the point of contact between the internal cam surface 6036 onthe distal closure tube 6030 and the anvil cam surface 5821 on the anvilmounting portion 5820 when the anvil 5810 has been pivoted to the closedposition. In one example, closure moment arm M_(A3) may be approximately0.502 inches, for example. M_(A3)×F_(C3)=a closure moment C_(M3) that isapplied to the anvil mounting portion 5820.

In the example depicted in FIGS. 29 and 30, the anvil body 5812 isformed with two tissue stop formations or tissue locator features 5830that extend downwardly from each lateral side of the anvil body 5812(only one tissue stop formation 5830 may be seen in FIGS. 29 and 30).When the anvil 5810 is opened to receive the target tissue between theunderside of the anvil and the cartridge deck surface, the downwardlyextending tissue stop formations 5830 serve to prevent the target tissuefrom extending proximally past the proximal most staples/fasteners inthe surgical staple/fastener cartridge 5700. In the embodiment depictedin FIG. 29, for example, the proximal-most staple/fastener pockets 5720are shown in phantom lines relative to the tissue stop formations 5830.As can be seen in that Figure, the tissue stop formation 5830 has adownwardly extending portion 5832 and a chamfered portion 5834. Thetarget tissue is contacted by the portions 5832, 5834 to prevent thetarget tissue from extending proximally beyond the proximal moststaples/fasteners that are supported in the proximal-moststaple/fastener pockets 5720 in the staple/fastener cartridge body 5702.

Returning again to FIG. 29, as the anvil 5810 is pivoted closed onto thetarget tissue (not shown) that is positioned between the underside 5813of the anvil body 5812, the tissue applies tissue forces T_(F3) to theunderside or tissue contacting surface 5813 of the anvil body 5812 whichcause the anvil 5810 to experience a tissue counter moment C_(T3) thatmust be overcome by the closure moment C_(M3) established by the closuresystem components. The example depicted in FIG. 29 illustrates equallydistributed tissue forces T_(F3) on the anvil 5810 and a tissue momentarm M_(T3) established by the clamped tissue (the clamped tissue is notshown in FIG. 29 for clarity purposes). As can be seen in that Figure,in that example, the tissue moment arm M_(T3) is considerably longerthan the closure moment arm M_(A3) (i.e., M_(T3)>M_(A3)).

Turning now to FIGS. 31 and 32, as was described above, the anviltrunnions 7822 of the anvil 7810 of the interchangeable surgical toolassembly 7000 extend laterally out of each lateral side of the anvilmounting portion 7820 to be received in the corresponding“kidney-shaped” opening 7613 formed in the upstanding walls 7612 of theproximal end portion 7610 of the elongate channel 7602. When the anvil7810 is in a “fully” open position, the anvil trunnions 7822 maygenerally be located in the bottom portion 76136 of the kidney slot7613. The anvil 7810 can be moved to a closed position by distallyadvancing the distal closure tube segment 8030 in the distal directionDD so that the internal cam surface 8036 on the distal end 8035 of thedistal closure tube segment 8030 rides up an anvil cam surface 7821 thatis formed on the anvil mounting portion 7820 of the anvil 7810. As theinternal cam surface 8036 on the distal end 8035 of the distal closuretube segment 8030 is distally advanced along the anvil cam surface 7821on the anvil mounting portion 7820 under the horizontal closure forceF_(H4) (FIG. 32), the distal closure tube segment 8030 causes the bodyportion 7812 of the anvil 7810 to pivot and move axially relative to thesurgical staple/fastener cartridge 7700 as the anvil trunnions 7822 moveupwardly and distally in the kidney slots 7613. When the distal closuretube segment 8030 reaches the end of its closure stroke, the distal end8035 of the distal closure tube segment 8030 abuts/contacts an abruptanvil ledge 7823 and serves to position the anvil 7810 so that theforming pockets (not shown) in the underside or tissue contactingsurface 7813 of the body portion 7812 are properly aligned with thestaples/fasteners in the staple/fastener cartridge 7700. The anvil ledge7823 is defined between the anvil cam surface 7821 on the anvil mountingportion 7820 and the anvil body portion 7812. Stated another way, inthis arrangement, the anvil cam surface 7821 does not extend to anoutermost surface 7817 of the anvil body 7812. When in that position,the anvil trunnions 7822 are located at top portions 7613T of the kidneyslots 7613. M_(A4) represents the moment arm from the anvil pivot axisPA₄ (coincident with the center of the anvil trunnions 7822) when thetrunnions 7822 are located in the top portions 7613T of the kidney slots7613 as shown. In one example, the moment arm M_(A4) may beapproximately 0.184 inches, for example. M_(A4)×F_(H4)=a closure momentC_(M4) that is applied to the anvil mounting portion 7820.

In the example depicted in FIGS. 31 and 32, the anvil body 7812 isformed with two tissue stop formations or tissue locator formations 7830that extend downwardly from each lateral side of the anvil body 7812(only one tissue stop formation 7830 may be seen in FIGS. 31 and 32).When the anvil 7810 is opened to receive the target tissue between theunderside of the anvil and the cartridge deck surface, the downwardlyextending tissue stop formations 7830 serve to prevent the target tissuefrom extending proximally past the proximal most staples/fasteners inthe surgical staple/fastener cartridge 7700. In the embodiment depictedin FIG. 31, for example, the proximal most staple/fastener pockets 7720are shown in phantom lines relative to the tissue stop formations 7830.As can be seen in that Figure, the tissue stop formation 7830 has adownwardly extending portion 7832 and a chamfered portion 7834. Thetarget tissue is contacted by the portions 7832, 7834 to prevent thetarget tissue from extending proximally beyond the proximal moststaples/fasteners that are supported in the proximal moststaple/fastener pockets 7720 in the staple/fastener cartridge body 7702.

Returning again to FIG. 31, as the anvil 7810 is pivoted closed onto thetarget tissue (not shown) that is positioned between the underside ortissue contacting surface 7813 of the anvil body portion 7812, thetissue applies tissue forces T_(F4) to the underside 7813 of the anvilbody 7812 which cause the anvil 7810 to experience a tissue countermoment C_(T4) that must be overcome by a closure moment C_(M4)established by the closure system components. The example depicted FIG.31 illustrates equally distributed tissue forces T_(F4) on the anvil7810 and a tissue moment arm M_(T4) established by the clamped tissue(the clamped tissue is not shown in FIG. 31 for clarity purposes). Ascan be seen in that Figure, in that example, the tissue moment armM_(T4) is considerably longer than the closure moment arm M_(A4) (i.e.,M_(T4)>M_(A4)).

The illustrated exemplary interchangeable surgical tool assemblies 1000,3000, 5000, 7000 comprise surgical stapling devices that employ“separate and distinct” closure and firing systems. That is, the closuresystem employed to close the jaws is separately actuatable from thefiring system used to drive the firing member through the surgicalstaple/fastener cartridge to cut and fasten tissue. These separate anddistinct closure and firing systems may be distinguishable from thosesurgical stapling instruments wherein actuation of the firing system toadvance the firing member is required to move the jaws from an openposition to a closed position. As will be discussed in further detailbelow, however, the firing members of some of the interchangeablesurgical tool assemblies disclosed herein may also apply additionalclosure motions to the anvil as the firing member is fired (i.e.,distally advanced through the surgical end effector). As can be seenfrom reference to FIGS. 25-32, in the illustrated examples,M_(A2)>M_(A3)>M_(A1)>M_(A4). FIGS. 25, 27, 29 and 31 also illustrate theresistive forces established by the tissue during the closure process.T_(F) represents the force generated by the tissue when the tissue isclamped between the anvil and the staple cartridge. These forcesestablish a “counter” moment C_(T) that is applied to the anvil aboutthe point/area where the distal closure tube segment is in cammingcontact with the anvil cam surface on the anvil mounting portion. Inthese illustrated examples, the tissue moment arm for each surgicalinstrument (tool assembly) is generally larger than the closure momentarm for that instrument. It may be appreciated from the differencebetween a typical tissue moment arm encountered when clamping tissuebetween the anvil and the surgical staple/fastener cartridge and theclosure moment arm of the instrument results in the need for sufficientclosure forces to be applied by the distal closure tube segment to theanvil in order to sufficiently close the anvil onto the tissue. Thus,the distal closure tube segment must be sufficiently strong and robustto handle the considerable stresses formed therein during the closureprocess. To establish a stress state in the distal closure tube segmentthat more closely resembles a “hoop stress” state instead of a “ringstress” state, the sidewalls of the distal closure tube segment may bethickened so as to contact the side walls and anvil mounting portions ofthe corresponding elongate channel. Such arrangement may also addstrength to the overall hoop-like structure of the tube. Maximizing thethickness on the anvil side of the distal closure tube segment may alsoimprove the strength of the tube segment (hoop) while allowing room fora large bearing or cam surface to cam the anvil downward towards thecartridge. U.S. patent application Ser. No. 15/385,911, entitledSURGICAL STAPLE/FASTENERS WITH INDEPENDENTLY ACTUATABLE CLOSING ANDFIRING SYSTEMS, now U.S. Pat. No. 10,448,950, discloses several distalclosure tube segment configurations which may be employed in the variousinterchangeable surgical tool assemblies disclosed herein.

The forgoing discussion and comparisons may illustrate that closuresystem designs that have large closure moment arms may lead to improvedefficiencies of the closure system components and can reduce the amountof closure forces that are required to achieve full anvil closure ontothe tissue. However, as noted above, there may be tradeoffs with otherdesign variables when attempting to maximize the closure moment arm. Forexample, another desirable attribute relates to “jaw aperture”. “Jawaperture” may refer to a distance J_(A) which is measured from themiddle of a distalmost staple or fastener center along a line that isperpendicular to the corresponding distalmost staple forming pocket onthe underside or tissue contact surface of the anvil body portion. FIG.33 illustrates the jaw aperture J_(A1) for the surgical end effector1500. In the illustrated example, the distalmost staple/fastener pockets1730 contain the distalmost staples or fasteners (not shown) therein.Each distalmost staple or fastener corresponds to a distalmoststaple/fastener forming pocket 1815 (shown in phantom in FIG. 33) thatis formed in the underside or tissue contacting surface 1813 of theanvil body 1812. The distance J_(A1) between the distalmoststaple/fastener pocket 1730 and the corresponding distalmoststaple/fastener forming pocket 1815 is the “jaw aperture” for thesurgical end effector 1500. In at least one embodiment, for example,J_(A1) is approximately 1.207 inches. FIG. 34 illustrates the jawaperture J_(A2) for the surgical end effector 3500. In the illustratedexample, the distalmost staple/fastener pockets 3730 contain thedistalmost staples or fasteners (not shown) therein. Each distalmoststaple or fastener corresponds to a distalmost staple/fastener formingpocket 3815 that is formed in the underside or tissue contact surface3813 of the anvil body 3812. The distance J_(A2) between the distalmoststaple/fastener pocket 3730 and the corresponding distalmoststaple/fastener forming pocket 3815 is the “jaw aperture” for thesurgical end effector 3500. In at least one embodiment, for example,J_(A2) is approximately 0.781 inches. FIG. 35 illustrates the jawaperture J_(A3) for the surgical end effector 5500. In the illustratedexample, the distalmost staple/fastener pockets 5730 contain thedistalmost staples/fasteners (not shown therein). Each distalmoststaple/fastener corresponds to a distalmost staple/fastener formingpocket 5815 that is formed in the underside or tissue contact surface5813 of the anvil body 5812. The distance J_(A3) between the distalmoststaple/fastener pocket 5730 and the corresponding distalmoststaple/fastener forming pocket 5815 is the “jaw aperture” for thesurgical end effector 5500. In at least one embodiment, for example,J_(A3) is approximately 0.793 inches. FIG. 36 illustrates the jawaperture J_(A4) for the surgical end effector 7500. In the illustratedexample, the distalmost staple/fastener pockets 7730 contain thedistalmost staples or fasteners (not shown) therein. Each distalmoststaple or fastener corresponds to a distalmost staple/fastener formingpocket 7815 that is formed in the underside or tissue contact surface7813 of the anvil body 7812. The distance J_(A4) between the distalmoststaple/fastener pocket 7730 and the corresponding distalmoststaple/fastener forming pocket 7815 is the “jaw aperture” for thesurgical end effector 7500. In at least one embodiment, for example,J_(A4) is approximately 0.717 inches. Thus, for these examples,J_(A1)>J_(A3)>J_(A2)>J_(A4). As such, comparatively, surgical endeffector 1500 has the greatest jaw aperture.

In those surgical end effector designs that employ separate and distinctclosure and firing systems that utilize an axially movable closure ringor distal closure tube segment such as the examples described above, theinterrelationships between the anvil or jaw pivot axis PA and the distalend of the distal closure tube segment as well as the robustness of theanvil mounting portion may determine the magnitude of the jaw aperturethat is attainable for each specific end effector design. Theseinterrelationships may be better appreciated from reference to FIG. 37,for example. FIG. 37 depicts a surgical end effector 1500R that employsan anvil 1810R that has an anvil mounting portion 1820R that is shown insolid lines. The anvil mounting portion 1820R includes anvil trunnions1822R that define a reference pivot axis P_(AR) about which the anvilmounting portion 1820R may pivot relative to an elongate channel 1602R.The surgical end effector 1500R also employs a distal closure tubesegment 2030R that has a distal end 2035R that is configured tocammingly contact the anvil mounting portion 1820R in the variousmanners discussed above. A surgical staple/fastener cartridge 1700R issupported in the elongate channel 1602R and has a cartridge deck surfaceor tissue contact surface 1710R. FIG. 37 depicts a distance D_(P)between the reference pivot axis P_(AR) and the distal end 2035R of thedistal closure tube segment 2030R. FIG. 37 illustrates the anvil 1810Rin solid lines. The anvil body 1812R is in its maximum open positionwhen the distal closure tube segment 2030R is in its proximal moststarting position relative to the anvil mounting portion 1820R. Themaximum aperture angle APA_(R) for that configuration is approximatelyten degrees, for example. This aperture angle APA_(R) is typical formany end effector arrangements. In another end effector arrangement, theaperture angle is 12.25 degrees. In one arrangement, for example, D_(P)may be approximately 0.200 inches. To attain a larger aperture angleAPA_(R1) of, for example, twenty-two degrees, if the relationshipbetween the distal end 2035R of the distal closure tube segment 2030Rand the reference pivot axis P_(AR) remains unchanged, then across-sectional width Mw of an anvil mounting portion 1820R₁ mustundesirably be decreased. The anvil 1810R₁ is illustrated in phantomlines. As can be seen in that Figure, an abrupt ledge must be formedbetween the anvil body 1812R₁ and the anvil mounting portion 1820R₁ suchthat the cross-sectional width thereof is reduced. The aperture angleAPA_(R1) is measured from the underside 1813R₁ of the anvil body 1812R₁and the deck surface 1710R of the surgical staple/fastener cartridge1700R. Such reduction in robustness of the anvil mounting portion of theanvil may lead to reduced anvil reliability and is less desirable thananvils that have anvil mounting portions with larger cross-sectionalprofiles.

Referring now to FIGS. 38 and 39, increases in jaw aperture (or apertureangle) may be more easily achieved as the pivot or pivot axis PA movescloser to the distal end of the starting or proximal position of thedistal closure tube segment. FIG. 38 illustrates a surgical end effector1500′ that is substantially similar to surgical end effector 1500,except for the location of the pivot axis PA′ relative to the distal end2035 of the distal closure tube segment 2030. As can be seen in thatFigure, the distance between the pivot axis PA′ and the distal end 2035of the distal closure tube segment 2030 when the distal closure tubesegment 2030 is in its proximal-most starting position is represented byDP′ and the aperture angle is APA. Stated another way, when the distalclosure tube segment 2030 is in its starting position that correspondswith the fully open position of the anvil 1810, the distal end 2035thereof is on a reference plane RF that is perpendicular to said shaftaxis SA. The distance between the pivot axis PA′ and the reference planeRF′ measured along a line that is perpendicular to the reference planeRF′ and extends through the pivot axis PA′ is DP′. In at least onearrangement, DP′ is approximately 0.200 inches and the aperture angleAPA may be approximately 10°.

FIG. 38 illustrates the aperture angle APA of a surgical end effector1500′ with a distance DP′ between the reference pivot axis PA′ and thedistal end 2035 of the distal closure tube segment 2030. Turning next toFIG. 39, as can be seen in that Figure, the distance DP between thepivot axis PA and the reference plane RF upon which the distal end 2035of the distal closure tube segment 2030 is located when the distalclosure tube segment 2030 is in its proximal most starting position isless than distance DP′ and the aperture angle APA₁ is greater than APA.For example, in at least one embodiment, the distance DP isapproximately 0.090 inches and the aperture angle APA₁ is approximatelytwenty two degrees. Thus, by moving the pivot axis PA closer to thedistal end of the distal closure tube segment when the distal closuretube segment is in its proximal most starting position, the jaw aperturemay be significantly increased without the need to reduce thecross-sectional width of the anvil mounting position. This may representa significant improvement over other surgical end effector arrangements.In various circumstances, the center of the anvil trunnions 1822 mayideally be located between 0.010-0.060 inches from the distal end 2035of the distal closure tube segment 2030 when the distal closure tubesegment is in the starting (proximal most) position. A maximum distancefor large jaw aperture applications may be, for example, 0.090 inches.As can also be seen in FIG. 39, when the anvil 1810 is in its fully openposition as shown, the downwardly extending portion 1832 of the tissuestop 1830 generally stops at the staple cartridge deck surface 1710 toprevent any proximal movement of the target tissue during clamping.

FIGS. 40 and 41 illustrate tissue stop or tissue locator arrangements1830 employed on one form of the surgical end effector 1500. Asindicated above, the tissue stops 1830 comprise a downwardly extendingportion 1832 and a chamfered portion 1834. The downwardly extendingportion 1832 comprises a distal edge 1833 that terminates in a distalcorner portion 1835. FIG. 40 illustrates the anvil 1810 in its fullyopen position. The underside 1813 of the anvil body 1812 is positionedat an aperture angle APA₁. In at least one arrangement, the apertureangle APA₁ is greater than 12.25 degrees (12.25°) and may be as large aseighteen degrees (18°). When in that fully open position, the surgicalend effector 1500 may further have a proximal aperture P_(APP1) that inat least one arrangement may be approximately 0.254 inches, for example.The proximal aperture defines how much tissue can be positioned betweenthe proximal portions of the jaws (anvil and cartridge). A largeproximal aperture may be most advantageous, for example, when cuttingand fastening lung tissue which may be partially inflated when beingintroduced between the anvil and cartridge. The proximal aperture may bemeasured from the center of the proximal most fastener pocket or pocketpair directly vertical to the underside or tissue contact surface on theanvil body.

When the anvil 1810 is in the fully opened position as shown in FIG. 40,the distal corner 1835 does not extend above the cartridge deck surface1710 so as to prevent tissue from moving proximal to the proximal moststaples in the proximal most staple pockets 1720. In at least oneembodiment, an upstanding channel stop portion 1619 may extend upwardlyfrom the side walls of the elongate channel 1602 so as to coincide witheach corresponding tissue stop 1830 to further prevent any proximalinfiltration of tissue between the tissue stop 1830 and the channel stopportion 1619. FIG. 41 illustrates the anvil 1810 in a fully closedposition. When in that position, the distal edges 1833 of the tissuestops 1830 are approximately aligned or coincident with the locations ofthe proximal most staples/fasteners in the staple/fastener cartridge1700. The distance from the articulation axis AA₁ to the proximal moststaples/fasteners is identified as T_(SD1). In one arrangement, T_(SD1)is approximately 1.044 inches, for example. When the anvil 1810 is fullyclosed, the tissue stops 1830 may be sized and shaped relative to theproximal end portion 1610 of the elongate channel 1602 so as tofacilitate easy insertion through a correspondingly sized standardtrocar. In at least one example, the tissue stops 1830 of the anvil 1810are sized and shaped relative to the elongate channel 1602 so as topermit the surgical end effector 1500 to be inserted through aconventional 12 mm trocar.

FIGS. 42 and 43 illustrate tissue stop arrangements 3830 employed on oneform of the surgical end effector 3500. As indicated above, the tissuestops 3830 comprise a downwardly extending portion 3832 and a chamferedportion 3834. The downwardly extending portion 3832 comprises a distaledge 3833 that terminates in a distal corner portion 3835. FIG. 42illustrates the anvil 3810 in its fully open position. The underside3813 of the anvil body 3812 is positioned at an aperture angle APA₂. Inat least one arrangement, the aperture angle APA₂ is approximatelythirteen and one half degrees (13.5°). When in that fully open position,the surgical end effector 3500 may further have a proximal apertureP_(APP2) that in at least one arrangement may be approximately 0.242inches, for example. When the anvil 3810 is in the fully opened positionas shown in FIG. 42, the distal corner 3835 does not extend above thecartridge deck surface 3710 so as to prevent tissue from moving proximalto the proximal most staples/fasteners in the proximal moststaple/fastener pockets 3720. FIG. 43 illustrates the anvil 3810 in afully closed position. When in that position, the distal edges 3833 ofthe tissue stops 3830 are approximately aligned or coincident with thelocations of the proximal most staples/fasteners in the staple/fastenercartridge 3700. The distance from the articulation axis AA₂ to theproximal most staples/fasteners is identified as T_(SD2). In onearrangement, T_(SD2) is approximately 1.318 inches, for example.

FIGS. 44 and 45 illustrate tissue stop arrangements 5830 employed on oneform of the surgical end effector 5500. As indicated above, the tissuestops 5830 comprise a downwardly extending portion 5832 and a chamferedportion 5834. The downwardly extending portion 5832 comprises a distaledge 5833 that terminates in a distal corner portion 5835. FIG. 44illustrates the anvil 5810 in its fully open position. The underside5813 of the anvil body 5812 is positioned at an aperture angle APA₃. Inat least one arrangement, the aperture angle APA₃ is approximately eightdegrees (8°). When in that fully open position, the surgical endeffector 5500 may further have a proximal aperture P_(APP3) that in atleast one arrangement may be approximately 0.226 inches, for example.When the anvil 5810 is in the fully opened position as shown in FIG. 44,the distal corner 3835 extends slightly above the cartridge deck surface5710. FIG. 45 illustrates the anvil 5810 in a fully closed position.When in that position, the distal edges 5833 of the tissue stops 5830are approximately aligned or coincident with the locations of theproximal most staples/fasteners in the staple/fastener cartridge 5700.The distance from the articulation axis AA₃ to the proximal moststaples/fasteners is identified as T_(SD3). In one arrangement, T_(SD3)is approximately 1.664 inches, for example.

FIGS. 46 and 47 illustrate tissue stop arrangements 7830 employed on oneform of the surgical end effector 7500. As indicated above, the tissuestops 7830 comprise a downwardly extending portion 7832 and a chamferedportion 7834. The downwardly extending portion 7832 comprises a distaledge 7833 that terminates in a distal corner portion 7835. FIG. 46illustrates the anvil 7810 in its fully open position. The underside7813 of the anvil body portion 7812 is positioned at an aperture angleAPA₄. In at least one arrangement, the aperture angle APA₄ isapproximately ten degrees (10°). When in that fully open position, thesurgical end effector 7500 may further have a proximal aperture P_(APP4)that in at least one arrangement may be approximately 0.188 inches, forexample. When the anvil 7810 is in the fully opened position as shown inFIG. 46, the distal corner portion 7835 extends slightly below thecartridge deck surface 7710 so as to prevent tissue from gettingproximal to the proximal most staples/fasteners in the proximal moststaple pockets 7720. FIG. 47 illustrates the anvil 7810 in a fullyclosed position. When in that position, the distal edges 7833 of thetissue stops 7830 is approximately aligned or coincident with thelocations of the proximal most staples/fasteners in the staple/fastenercartridge 7700. The distance from the articulation axis AA₄ to theproximal most staples/fasteners is identified as T_(SD4). In onearrangement, T_(SD4) is approximately 1.686 inches, for example.

In various circumstances, the relationships of the firing member to thearticulation axis AA as well as to the jaw pivot axis PA about which theanvil pivots may bear upon the length of the articulation jointarrangement. Of course, longer articulation joint arrangements maydetrimentally affect the end effector's maneuverability within tightspaces and also limit the magnitude of the jaw aperture that mayultimately be obtained by the end effector. FIG. 48 illustrates thesurgical end effector 1500 in a fully open position. That is, the anvil1810 has been pivoted to its fully open position and the firing member2140 is in its home or starting position. The distance between thedistal end of each of the anvil engagement features 2147 and thearticulation axis AA₁ is represented by AJD₁. In at least one example,AJD₁ is approximately 0.517 inches. By way of comparison and turning toFIG. 49, the distance AJD₂ from the distal end of each of the anvilengagement features 4147 and the articulation axis AA₂ is, in at leastone example, is approximately 0.744 inches. Referring to FIG. 50, thedistance AJD₃ from the distal end of each of the anvil engagementfeatures 6147 and the articulation axis AA₃ is, in at least one example,is approximately 1.045 inches. Turning to FIG. 51, the distance AJD₄from the distal end of each of the anvil engagement features 8147 andthe articulation axis AA₄ is, in at least one example, is approximately1.096 inches. Thus, as can be seen from this comparison, thearticulation joint arrangement (as measured by distances AJD₁, AJD₂,AJD₃, AJD₄) of the surgical end effector 1500 is more compact and thusmay be more maneuverable than the surgical end effectors 3500, 5500 and7500 in at least some surgical applications.

Another factor that may affect the length of the joint arrangementrelates to the location of the firing member relative to the anvil pivotaxis PA about which the anvil pivots. For example, FIG. 52 illustratesthe anvil 1810 of surgical end effector 1500 in its fully open position.When in that position, the firing member 2140 is in its parked or“starting position”. As can be seen in that Figure, one useful metricfor comparing the “compactness” of the articulation joint arrangement isthe proximal tab distance TD₁ between the proximal end 2149 of each ofthe top anvil engagement features 2147 and the anvil pivot axis PA₁. Inat least one preferred arrangement, the proximal tab distance TD₁ isapproximately greater than thirty-five percent (35%) of the overalllength TL₁ of each of the anvil engagement features 2147 when the anvil1810 is in a fully open position and the firing member 2140 is in itsproximal most or starting position. Stated another way, when the anvil1810 and the firing member 2140 are in the above described positions, atleast 35% of each of the anvil engagement features 2147 extendsproximally past the anvil pivot axis PA₁. FIG. 53 illustrates the endeffector 1500 with the anvil 1810 in the closed position and the firingmember 2140 in its proximal most or starting position. As can be seen inthat Figure, at least 35% of each of the anvil engagement features 2147extends proximally past the anvil pivot axis PA₁.

FIG. 54 illustrates the position of the firing member 4140 of thesurgical end effector 3500 when the anvil 3810 is in its fully openposition and the firing member 4140 is in its proximal most or startingposition. As can be seen in that Figure, each of the anvil engagementfeatures 4147 are completely distal to the anvil pivot axis PA₂ therebyresulting in a longer articulation joint arrangement. Thus, the distanceTD₂, is the distal distance between the proximal ends 4149 of the anvilengagement features 4147 and the anvil pivot axis PA₂. FIG. 55illustrates the position of the firing member 6140 of the surgical endeffector 5500 when the anvil 5810 is in its fully open position and thefiring member 6140 is in its proximal most or starting position. As canbe seen in that Figure, each of the anvil engagement features 6147 arecompletely distal to the anvil pivot axis PA₃ thereby resulting in alonger articulation joint arrangement. Thus, the distance TD₃, is thedistal distance between the proximal ends 6149 of the anvil engagementfeatures 6147 and the anvil pivot axis PA₃. FIG. 56 illustrates theposition of the firing member 8140 of the surgical end effector 7500when the anvil 7810 is in its fully open position and the firing member8140 is in its proximal-most or starting position. As can be seen inthat Figure, each of the anvil engagement features 8147 are completelydistal to the anvil pivot axis PA₄ thereby resulting in a longerarticulation joint arrangement. Thus, the distance TD₄, is the distaldistance between the proximal ends 8149 of the anvil engagement features8147 and the anvil pivot axis PA₄. For comparison purposes, the surgicalend effector 1500 is the only surgical end effector wherein a portion ofthe anvil engagement features on the firing member extend proximallypast the anvil pivot axis when the firing member is in its proximal mostor starting position. The anvil engagement features of each of thefiring members of the surgical end effectors 3500, 5500 and 7500 arecompletely distal to their respective anvil pivot axes when the firingmembers are in their proximal most or starting position. Taking thiscomparison further, for example, the surgical end effector 1500 is theonly surgical end effector wherein at least thirty-five percent (35%) ofthe anvil engagement features reside between the anvil pivot axis andthe articulation axis when the firing member is in its starting positionand the anvil is fully opened. Similar comparisons may be drawn fromcomparing the same distances between the location of the lower channelengagement features on the firing member to the jaw pivot axis when thefiring member is in its proximal most starting position.

Another metric that may be used to assess the compactness of thearticulation joint arrangement may comprise comparing the ratio betweenthe distance from the articulation axis to the distal end of the anvilengagement features on the firing member (distances AJD₁, AJD₂, AJD₃,AJD₄—FIGS. 48-51) relative to the distance from the articulation axis tothe distal edge of the tissue stops or the proximal most staple/fastener(distances TSD₁, TSD₂, TSD₃, TSD₄—FIGS. 41, 43, 45, 47) for each endeffector. For example, in a preferred arrangement, AJD/TSD<0.500. Theratio of AJD/TSD may be referred to herein as the “compactness ratio” ofthat particular surgical end effector. In one arrangement, for example,for end effector 1500, AJD₁/TSD₁=0.517 inches/1.044 inches=0.495. In oneillustrated example for end effector 3500, AJD₂/TSD₂=0.744 inches/1.318inches=0.564. In one illustrated example for end effector 5500,AJD₃/TSD₃=1.045 inches/1.664 inches=0.628. In one illustratedarrangement, AJD₄/TSD₄=1.096 inches/1.686 inches=0.650. Thus, in atleast one preferred arrangement wherein the articulation jointarrangement is the most compact, has the largest jaw aperture and is themost maneuverable, the ratio between the distance from the articulationaxis to the proximal end of the anvil engagement features on the firingmember and the distance from the articulation axis to the distal edge ofthe tissue stops or the proximal most staple/fastener is approximatelyless than 0.500.

FIGS. 57-61 illustrate a progressive closure arrangement for moving theanvil 1810 of the surgical end effector 1500 from a fully open positionto a closed position and then to an over closed position. FIGS. 57 and58 illustrate the anvil 1810 in a closed position. In both of thoseFigures, the distal closure tube segment 2030 has been advanced in thedistal direction DD to its fully closed position. As was discussedabove, the interaction between an internal cam surface 2036 on thedistal closure tube segment 2030 and an anvil cam surface 1821 on theanvil mounting portion 1820 causes the anvil 1810 to pivot to the closedposition. As can be seen in FIG. 58, the staple forming underside ortissue contacting surface 1813 of the anvil body 1812 may be relativelyparallel and spaced relative to the cartridge deck surface 1710 of thesurgical staple/fastener cartridge. When in that initial closedposition, the firing member 2140 is in its starting position as can beseen in FIG. 57. When in that position, the anvil engagement features2147 of the firing member 2140 have not engaged the anvil 1810 but arein substantial horizontal alignment with the ledges 1816 formed in theanvil 1810. In at least one arrangement, a ramp segment 1829 is formedproximal to each of the horizontal anvil ledges 1816. FIG. 59illustrates the position of the firing member 2140 after it has beendistally advanced to a point wherein the anvil engagement features 2147have initially engaged the horizontal anvil ledges 1816 on the anvil1810 and FIG. 61 illustrates the position of the firing member 2140 andthe anvil 1810 such that the anvil engagement features are in fullengagement with the anvil ledges 1816 to apply an “overclosure” force tothe anvil 1810 as the firing member 2140 continues to be distallyadvanced. In at least one arrangement as illustrated in FIG. 61, forexample, when the anvil 1810 is in the over closed position (with notissue being clamped between the anvil and the cartridge), the distalportion of the anvil 1810 will contact with the cartridge deck surface1710. As a result of such configuration, the force required to distallyadvance the firing member from its starting position to its endingposition within the end effector may generally be less than othersurgical end effector arrangements that do not employ such progressiveclosure arrangements.

FIG. 62 illustrates the anvil 1810 of the surgical end effector 1500 ina fully opened position. As was discussed above, each of the anviltrunnions 1822 are received in a corresponding trunnion cradle 1614 thatis formed in the upstanding walls 1612 of the proximal end portion 1610of the elongate channel 1602. The anvil trunnions 1822 are pivotallyretained in their corresponding trunnion cradle 1614 by the channel capor anvil retainer 1630. The channel cap 1630 includes a pair ofattachment lugs 1636 that are configured to be retainingly receivedwithin corresponding lug grooves or notches 1616 formed in theupstanding walls 1612 of the proximal end portion 1610 of the elongatechannel 1602. During a portion of the closure stroke for the anvil 1810on thick tissue, counterforces established during the tissue clampingprocess seek to push the anvil trunnions 1822 out of their respectivetrunnion cradles 1614. The channel cap 1630 includes a pair of slot capportions 1632 that correspond to each trunnion cradle 1614. When thechannel cap 1630 is installed onto the proximal end portion 1610 of theelongate channel 1602, each slot cap portion 1632 serves to retain theanvil trunnions 1822 within their respective trunnion cradles 1614during the closure process. As can be seen in FIGS. 62 and 63, each slotcap portion 1632 may have an arcuate bottom portion 1638 that isconfigured to pivotally receive the corresponding anvil trunnion 1822.Each slot cap 1632 may have a wedge shape to completely block the openend of the trunnion cradles 1614. Such channel cap arrangement 1630 mayfacilitate ease of assembly of the anvil 1810 to the elongate channel1602. Once the anvil trunnions 1822 have been placed into theirrespective trunnion cradles 1614, the channel cap 1630 may then beinstalled as shown. In at least one arrangement, the distal closure tubesegment 2030 serves to retain the channel cap 1630 in position whichserves to prevent the anvil trunnions 1822 from moving vertically intheir respective trunnion cradles 1614 during closure as shown in FIG.63. In another arrangement, the attachment lugs 1636 may be frictionallyretained within their respective notches 1616 or otherwise be retainedtherein by adhesive or other fastening means.

The four interchangeable tool assemblies 1000, 3000, 5000 and 7000employ different jaw opening configurations to facilitate moving theanvil from a closed position to a fully open position. For example, thedistal closure tube segment 4030 of the interchangeable tool assembly3000 includes positive jaw or anvil opening features 4040 thatcorrespond to each of the sidewalls of the distal closure tube segment4030 and protrude inwardly therefrom. The positive anvil openingfeatures 4040 extend inwardly through corresponding openings in thetransitional sidewalls and may be welded to the distal closure tubesegment 4030. In this arrangement, the positive anvil opening featuresare axially aligned with each other and are configured to operablyinterface with corresponding opening ramps formed on the undersides ofthe anvil mounting portion 3820. When the anvil 3810 and the distalclosure tube segment 4030 are in their fully closed positions, each ofthe positive anvil opening features 4040 is located in a cavity that isestablished between the anvil opening ramps and the bottom portion ofthe elongate channel 3602. When in that position, the positive anvilopening features 4040 do not contact the anvil mounting portion 3820 orat least may not apply any significant opening motions or forcesthereto. When the distal closure tube segment 4030 is moved in theproximal direction, the anvil opening features 4040 are brought intocontact with the anvil opening ramps to cause the anvil 3810 to pivot toan open position. Further details regarding the positive anvil openingfeatures 4040 may be found in U.S. patent application Ser. No.15/385,911, entitled SURGICAL STAPLE/FASTENERS WITH INDEPENDENTLYACTUATABLE CLOSING AND FIRING SYSTEMS, now U.S. Pat. No. 10,448,950.

With regard to the surgical end effector 5500 of tool assembly 5000, thedistal closure tube segment 6030 includes two inwardly extendingpositive anvil opening tabs 6038 that may be punched into the wall ofthe distal closure tube segment 6030. See FIG. 21. In the illustratedarrangement, the tabs 6038 are axially aligned with each other and areconfigured to contact corresponding upstanding anvil tails 5827 formedon the anvil mounting portion 5820. When the distal closure tube segment6030 is moved in the proximal direction, the anvil opening features 6038are brought into contact with the anvil tails 5827 to cause the anvil5810 to pivot to an open position.

With regard to the surgical end effector 7500 of the tool assembly 7000,a positive anvil opening motion is applied to the anvil 7810 by thedistal closure tube segment 8030 when the distal closure tube segment8030 is moved proximally. As was discussed above, an upstanding anviltab 7824 is formed on the anvil mounting portion 7820 and extends intothe horseshoe-shaped opening 8038 in the distal closure tube segment8030. See FIG. 24. Opening 8038 defines an opening tab 8039 that isconfigured to operably interface with the anvil tab 7824 as the distalclosure tube segment 8030 is retracted in the distal direction. Suchinteraction between the opening tab 8039 and the anvil tab 7824 appliesan opening motion to the anvil 7810 to thereby cause the anvil 7810 tomove to an open position.

With regard to surgical end effector 1500 of the interchangeable toolassembly 1000, in the illustrated example, the distal closure tubesegment 2030 employs two axially offset, proximal and distal positivejaw opening features 2040 and 2050 as illustrated in FIGS. 64-77. As canbe seen in FIGS. 64 and 65, the proximal positive jaw opening feature2040 is axially proximal to the distal positive jaw opening feature 2050by an axial offset distance AOF. In FIG. 65, the proximal positive jawopening feature 2040 is located on the right side (as viewed by a userof the tool assembly) of the shaft axis SA₁. FIGS. 66, 72 and 73illustrate the position of the proximal positive jaw opening feature2040 when the anvil 1810 is in the closed position. As can be mostparticularly seen in FIG. 66, when in that position, the proximalpositive jaw opening feature 2040 is in a right side or first relievedarea 1825 formed in the anvil mounting portion 1820. FIGS. 69, 72 and 73illustrate the position of the distal positive jaw opening feature 2050when the anvil 1810 is in the closed position. As can be mostparticularly seen in FIG. 69, when in that position, the distal positivejaw opening feature is in contact with a stepped portion 1823 of theanvil cam surface 1821.

To commence the opening process, the jaw closure system is actuated tomove the distal closure tube segment 2030 in the proximal direction PD.As the distal closure tube segment 2030 is moved in the proximaldirection PD, the proximal positive jaw opening feature 2040 contacts afirst or right side jaw opening cam surface 1826 and begins to apply ajaw opening motion to the anvil 1810. See FIGS. 67, 74 and 75. As can beseen in FIGS. 70, 74 and 75, during this proximal movement of the distalclosure tube segment 2030, the distal positive jaw opening feature 2050is axially movable within a second or left relief area 1840 formed inthe anvil mounting portion 1820. Thus, while the proximal positive jawopening feature 2040 is applying a first or initial opening motion tothe anvil mounting portion 1820, the distal positive jaw opening feature2050 is not applying any significant opening motion to the anvil 1810.Further proximal motion of the distal closure tube segment 2030 willresult in the distal positive jaw opening feature 2050 contacting a leftanvil open tab 1842 and the proximal positive jaw opening feature 2040disengaging the jaw opening cam surface 1826. Thus, the proximalpositive jaw opening feature 2040 has disengaged the anvil mountingportion 1820 and is not applying any further opening motion theretowhile the distal positive jaw opening feature 2050 is applying a secondjaw opening motion to the anvil mounting portion 1820 to pivot the anvil1810 to a fully open position illustrated in FIGS. 68, 71, 76 and 77.

FIG. 78 depicts the anvil or jaw opening process employed by theinterchangeable tool assembly 1000 in graphical form. As can be seen inthat Figure, the left or vertical axis of the graph represents theamount of jaw aperture from about 0° to about 22° (“anvil apertureangle”) and the bottom or horizontal axis represents the approximateproximal axial travel of the distal closure tube segment 2030 from aposition wherein the anvil is fully closed to a position wherein theanvil is fully open. As indicated above, the “anvil aperture angle” or“jaw aperture angle” may represent the angle between the cartridge decksurface or tissue contacting surface on the surgical fastener cartridgeor “first jaw” and the fastener forming surface or tissue contactingsurface on the anvil or “second jaw”. When the anvil is fully closed,the anvil aperture angle may be approximately 0°, for example. In theillustrated arrangement, the distal closure tube segment 2030 can moveproximally from a first position (1850 on the graph) that corresponds tothe fully closed position a proximal distance of, for example, about0.040 inches to a first intermediate position (1852 on the graph) beforethe proximal positive jaw opening feature 2040 begins to apply a firstjaw opening motion to the anvil 1810. As the distal closure tube segment2030 continues to move proximally from the first intermediate position1852 to a second intermediate position (1854 on the graph) a furtherproximal distance of, for example, about 0.040 inches to about 0.120inches, the proximal positive jaw opening feature 2040 moves the anvil1810 through an anvil aperture angle from 0° to about 10°. While thedistal closure tube segment 2030 continues to travel proximally from thesecond intermediate position 1854 to a third intermediate position (1856on the graph) a further proximal distance (from about 0.120 inches toabout 0.140 inches), the anvil remains at about a 10° anvil apertureangle. Further proximal movement of the distal closure tube segment 2030from the third intermediate position 1856 to a fourth intermediateposition (1858 on the graph) a proximal distance (from about 0.140inches to about 0.240 inches), the distal positive jaw opening feature2050 begins to apply a second jaw opening motion to the anvil 1810. Asthe distal closure tube segment 2030 continues to move proximally fromthe third intermediate position 1856 to a fourth intermediate position(1858 on the graph) a further proximal distance (from, for example,about 0.140 inches to about 0.240 inches), the distal positive jawopening feature 2050 moves the anvil 1810 relative to the elongatechannel 1602 such that the anvil aperture angle increases from about 10°to about 22°, for example. While the distal closure tube segment 2030continues to travel proximally from the fourth intermediate position1858 to a final proximal position (1860 on the graph) a further proximaldistance (from about 0.240 inches to about 0.260 inches, for example),the anvil 1810 remains at a fully open position with an anvil apertureangle of approximately 22°.

The closure process of the illustrated example of the interchangeabletool assembly 1000 may be understood from reference to FIGS. 67-69 and70-72, as well as FIG. 78. FIGS. 68 and 71 illustrate the anvil 1810 inits fully open position. As can be seen in those Figures, the proximalpositive jaw opening feature 2040 is out of contact with the anvilmounting portion 1820 and the distal positive jaw opening feature 2050is in contact with the left anvil open tab 1842. When the anvil closureprocess is commenced, the closure drive system is actuated to move thedistal closure tube segment 2030 in the distal direction DD. As thedistal closure tube segment moves from the final proximal position 1860to the fourth intermediate position 1858 (FIG. 78), the anvil 1810remains in its fully open position. Thus, once the closure process iscommenced, in at least one example, the distal closure tube segment 2030may move distally a first or initial predetermined axial closuredistance before the anvil 1810 begins to move. Stated another way, thedistal closure tube segment may move the first predetermined axialclosure distance before any closure motion is applied to the anvil 1810.In at least one example, the first or initial predetermined closuredistance may be approximately 0.020 inches. As the distal closure tubesegment 2030 continues to move distally through an intermediate axialclosure distance, the distal end 2035 of the distal closure tube segment2030 begins to contact the anvil cam surface 1821 on the anvil mountingportion 1820 (FIGS. 67 and 70) until the internal cam surface 2036 onthe distal closure tube segment 2030 begins to cammingly contact theanvil cam surface 1821. As the internal cam surface 2036 travels up theanvil cam surface 1821, the anvil 1810 is pivoted to the fully closedposition. The anvil cam surface 1821 and the internal cam surface 2036may be configured to permit further distal travel of the distal closuretube segment 2030 from, for example, first intermediate point orposition 1852 to the first position 1850 (FIG. 78). Thus, in at leastone example, the distal closure tube segment 2030 may move distally afinal predetermined axial closure distance during the closing processafter the anvil 1810 has attained its fully closed position. In at leastone example, the final predetermined axial closure distance may beapproximately 0.040 inches.

In those surgical stapling devices that employ a firing member assemblythat comprises a firing member that has a tissue cutting surface, it maybe desirable for the firing system and portions of the end effector tobe configured in such a way so as to prevent the inadvertent advancementof the firing member unless an unspent staple cartridge is properlysupported in the end effector. If, for example, no staple cartridge ispresent at all and the firing member is distally advanced through theend effector, the tissue would be severed, but not stapled. Similarly,if a spent staple cartridge (i.e., a staple cartridge wherein at leastsome of the staples have already been fired therefrom) is present in theend effector and the firing member is advanced, the tissue would besevered, but may not be completely stapled, if at all. It will beappreciated that such occurrences could lead to undesirable catastrophicresults during the surgical procedure. U.S. Pat. No. 6,988,649 entitledSURGICAL STAPLING INSTRUMENT HAVING A SPENT CARTRIDGE LOCKOUT, U.S. Pat.No. 7,044,352 entitled SURGICAL STAPLING INSTRUMENT HAVING A SINGLELOCKOUT MECHANISM FOR PREVENTION OF FIRING, U.S. Pat. No. 7,380,695entitled SURGICAL STAPLING INSTRUMENT HAVING A SINGLE LOCKOUT MECHANISMFOR PREVENTION OF FIRING, U.S. Patent Application Publication No.2016/0367247, entitled SURGICAL STAPLING INSTRUMENTS WITH LOCKOUTARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION WHEN A CARTRIDGE ISSPENT OR MISSING, now U.S. Pat. No. 10,154,841, and U.S. patentapplication Ser. No. 15/385,958, entitled SURGICAL INSTRUMENTS WITHLOCKOUT ARRANGEMENTS FOR PREVENTING FIRING SYSTEM ACTUATION UNLESS ANUNSPENT STAPLE CARTRIDGE IS PRESENT, now U.S. Pat. No. 10,639,034, eachdisclose various firing member lockout arrangements. Each of thosereferences is hereby incorporated by reference in its entirety herein.

Referring to FIGS. 60A-60I, there is shown a surgical end effector 9010that comprises a portion of a surgical tool assembly 9000 that comprisesa first jaw 9020 and a second jaw 9120. In the illustrated arrangement,for example, the first jaw 9020 comprises an elongate channel 9022 thatis configured to removably and operably support a surgical staplecartridge 9600 therein. The elongate channel 9022 is attached to anelongate shaft assembly 9300 of the surgical tool assembly. In thearrangement depicted in FIGS. 60C and 60D, for example, the elongatechannel 9022 is pivotally coupled to a spine assembly 9310 of theelongate shaft assembly 9300 for selective articulation relativethereto. See FIGS. 60D, 60E, 60H and 60I. The elongate shaft assembly9300 may define a shaft axis SA. The second jaw 9120 comprises an anvil9122 that is movably supported on the elongate channel 9022 and which ismovable between open and closed positions by the closure system 9400.The anvil 9122 includes an anvil body 9124 and an anvil mounting portion9126 that is pivotally supported for pivotal travel relative to theproximal end 9024 of the elongate channel 9022. The closure system 9400may include, for example, an axially movable distal closure tube segment9410 that is configured to cammingly engage a cam surface 9128 on theanvil mounting portion 9126 when the distal closure tube segment 9410 isaxially advanced in the distal direction DD. The distal closure tubesegment 9410 may also be configured to apply opening motions to theanvil mounting portion 9126 when the distal closure tube segment 9410 ismoved in the proximal direction PD. See FIGS. 60C and 60D.

The surgical tool assembly 9000 further includes a firing system 9500that, in the illustrated arrangement, comprises a firing member assembly9510 that is configured to receive firing motions from a firing controlsystem supported in a housing of a handheld control system or a roboticcontrol system, for example. In the illustrated embodiment, one form offiring member assembly 9510 comprises a first firing member element 9520that consists of a firing member body 9522 that supports a tissuecutting surface or blade 9524 thereon. The firing member body 9522 iscoupled to a firing bar or knife bar 9530 that operably interfaces withcorresponding portions of the firing system 9500 to receive the firingmotions from the firing control system. The firing member body 9522 mayinclude second jaw or anvil engagement features 9526 that may compriselaterally extending tab features configured to be received withincorresponding second jaw passages or slots 9125 in the anvil body 9124.In addition, the firing member body 9522 may further include first jawor channel engagement features or a foot 9528 that is configured to bereceived in corresponding first jaw passages or slots or openings 9023in the elongate channel 9022.

The staple cartridge 9600 comprises a cartridge body 9602. See FIGS. 60Hand 60I. The cartridge body 9602 includes a proximal end 9604, a distalend (not shown), and a deck 9606 extending between the proximal end andthe distal end. In use, the staple cartridge 9600 is positioned on afirst side of the tissue to be stapled and the anvil 9122 is positionedon a second side of the tissue. The anvil 9122 is moved toward thestaple cartridge 9600 to compress and clamp the tissue against the deck9606. Thereafter, staples or fasteners removably stored in the cartridgebody 9602 can be deployed into the tissue. The cartridge body 9602includes staple or fastener cavities (not shown) defined therein whereinstaples or fasteners (not shown) are removably stored in the staplecavities. The staple cavities may be arranged in longitudinal rows. Inone arrangement, for example, three rows of staple cavities arepositioned on a first side of a longitudinal slot and three rows ofstaple cavities are positioned on a second side of the longitudinalslot. The longitudinal slot is configured to axially receive the firstfiring member element 9520 therethrough. Other arrangements ofstaple/fastener cavities and staples or fasteners may be possible.

The staples or fasteners are supported by staple drivers (not shown)that are movably supported in the cartridge body 9602. The drivers aremovable between a first, or unfired position, and a second, or fired,position to eject the staples or fasteners from the cavities. Thedrivers are retained in the cartridge body 9602 by a retainer (notshown) which extends around the bottom of the cartridge body 9602 andincludes resilient members configured to grip the cartridge body andhold the retainer to the cartridge body. The drivers are movable betweentheir unfired positions and their fired positions by a sled 9610. Thesled 9610 is movable between a proximal, or “unfired” position adjacentthe proximal end 9604 and a distal or “fired” position adjacent thedistal end (after firing). As can be seen in FIG. 60G, the sled 9610comprises a plurality of ramped or cam surfaces 9620 that are configuredto slide under the drivers and lift the drivers, and the staples orfasteners supported thereon, toward the anvil. An “unfired”, “unspent”,“fresh” or “new” staple cartridge 9600 means herein that the staplecartridge 9600 has all of its staples or fasteners in their“ready-to-be-fired positions”. When in that position, the sled assembly9610 is located in its starting or “unfired” position. The new staplecartridge 9600 is seated within the elongate channel 9022 and may beretained therein by snap features on the cartridge body 9602 that areconfigured to retainingly engage corresponding portions of the elongatechannel 9022. FIGS. 60G and 60H illustrate a portion of the surgical endeffector 9010 with a new or unfired surgical staple cartridge 9600seated therein. As can be seen in FIGS. 60G and 60H, the sled 9610 is inthe unfired position. To prevent the firing system 9500 from beingactivated and, more precisely, to prevent the first firing memberelement 9520 from being distally driven through the surgical endeffector 9010 unless an unfired or new surgical staple cartridge 9600has been properly seated within the elongate channel 9022, theillustrated surgical tool assembly 9000 employs a firing member lockoutsystem generally designated as 9700.

Referring now to FIGS. 60E and 60F, in one form, the firing memberlockout system 9700 comprises a second firing member element or tippableelement 9710 that comprises a sled engaging portion 9720. In theillustrated arrangement, the second firing member element 9710 ispivotally coupled to the firing member body 9522 by an attachment joint9713 in the form of, for example, a pivot member or members 9714 thatare pivotally received in corresponding pivot holes 9523 provided in thefiring member body 9522 for pivotal travel relative thereto about apivot axis PA that is transverse to the shaft axis SA. Such arrangementfacilitates pivotal travel of the second firing member element 9710relative to the firing member body 9522 between a locked position (FIG.60E) and an unlocked position (FIG. 60F). In the illustrated example,the firing member body 9522 comprises a distal surface 9525 that isapproximately perpendicular to the channel engagement features 9528 anda lockout surface 9527 that is angled relative to the distal surface9525. In addition, one or more support ramps 9529 are formed on thefiring member body 9522 that serve to define corresponding landingsurfaces 9531 for receiving the second firing member element 9710 whenin the locked configuration. See FIG. 60E.

As can be seen in FIG. 60F, when the second firing member element 9710is in the unlocked position, a space, generally indicated as 9724, isprovided between a proximal surface 9722 of the second firing memberelement 9710 and the distal surface 9525 of the firing member body 9522.Thus, when in the unlocked position, the proximal surface 9722 of thesecond firing member element 9710 is not in contact with the distalsurface 9525 of the firing member body 9522. Referring now to FIGS.60A-60D, the second firing member element 9710 further comprises atleast one lockout-engaging portion 9730 that includes an angled lock end9732 that is configured to engage a corresponding lock-out notch 9026that is formed in the elongate channel 9022 when the second firingmember element 9710 is in the locked position. In one embodiment, forexample, the second firing member element 9710 includes twolockout-engaging portions 9730. As can also be seen in FIGS. 60A-60D, alockout spring or biasing member 9740 is mounted in the proximal end9024 of the elongate channel 9022 and includes two spring arms 9742 thateach correspond to a lockout-engaging portion 9730. The spring arms 9742serve to bias the second firing member element 9710 into the lockedposition as shown in FIGS. 60B-60D.

Turning now to FIGS. 60G-60I, the sled 9610 comprises an unlockingportion 9630 that is configured to engage the sled engaging portion 9720on the second firing member element 9710 when the sled 9610 is in theunfired position. Such arrangement serves to pivot the second firingmember element 9710 into the unlocked position. When in the unlockedposition, the angled lock end 9732 of each lockout-engaging portion 9730is pivoted out of the corresponding lock-out notch 9026 in the elongatechannel 9022 so that the firing member assembly 9510 may be fired ordistally advanced through the staple cartridge. If the staple cartridgethat has been loaded into the elongate channel 9022 was previously firedor even partially fired, the sled 9610 will not be in the unfiredposition so as to pivot the second firing member element 9710 into theunlocked position. In such instance therefor, the clinician will beunable to distally advance or fire the firing member assembly 9510. Whenin the unlocked position, actuation of the firing system 9500 willresult in the distal travel of the firing member assembly 9510. Asindicated above, when the firing member assembly 9510 is drivendistally, the second firing member element 9710 is in contact with thefiring member body 9522 through the pivot members 9714. However, whenthe second firing member element 9710 is pivoted into the lockedposition (FIG. 60E), a portion of the proximal surface 9722 is inabutting contact with the angled lockout surface 9527 on the firingmember body 9522. In addition, as can be most particularly seen in FIGS.60E and 60F, the pivot hole 9523 in the firing member body 9522 is sizedrelative to the corresponding pivot member 9714 to provide clearance Ctherebetween so that the load is transferred through the second firingmember element directly to the firing member body 9522 and not throughthe pivot members 9714. As can be seen in FIG. 60E, the angled lockoutsurface 9527 facilitates pivotal travel of the sled engaging portion9720 into the locked position. When the second firing member element9720 is in the locked position, should the clinician inadvertently applya firing motion FM to the firing member assembly 9510 in the distaldirection DD, the engagement between the second firing member element9720 and the lock-out notch 9026 in the elongate channel 9022 willprevent the distal advancement of the firing member assembly 9510 andcause a resultant unlocking load force UL to be applied to the secondfiring member element 9720. This unlocking load force UL will be appliedto the angled lockout surface 9527 on the firing member body 9522 andwill not be applied to the pivot members 9714. Such arrangement avoidsloading or stressing the pivot members 9714 should the clinicianinadvertently attempt to advance the firing member assembly 9510 when inthe locked position. Thus, this configuration may prevent the pivotmembers 9714 from shearing off during such attempted advancement of thefiring member assembly 9510.

Thus, the foregoing firing member assembly 9510 and firing memberlockout assembly 9700 may provide several advantages. For example, aswas discussed above, the distal surface 9525 on the firing member body9522 carries the load during firing and avoids transferring such load tothe pivot members that attach the second firing member element 9710 tothe first firing member element 9520. When in the lockout state orlocked position, the load is carried by the angled lock ends 9732 on thelockout engaging portions 9730. Such arrangement also avoids the needfor the firing member assembly 9510 or more precisely the first firingmember element 9520 from moving vertically which may inadvertently leadto misalignment with the anvil and elongate channel when moved into anunlocked state for firing. Moreover, because the first firing memberelement 9520 does not move vertically, the anvil engagement features aswell as the channel engagement features may be advantageously shaped anddesigned to obtain desirable engagement with the anvil and channelduring firing. The design and shape of the firing member body may alsoafford a large surface area for attachment to the knife bar by, forexample, welding. For example, the distal end of the knife bar may beattached to the firing member body by a butt weld and a laser weld fromboth sides to interconnect the laminates forming the knife bar at thedistal end. Such weld configuration may be more longitudinally compactthan prior weld configurations and can lead to superior joint length.Other advantages may also be enjoyed from the foregoing firing memberand lockout system arrangements.

An end effector 10500 of a surgical instrument 10000 is illustrated inFIGS. 79-79B. The end effector 10500 comprises a cartridge jaw 10600(FIG. 81) including a staple cartridge 10700 and, in addition, an anvil10800 configured to deform staples ejected from the staple cartridge10700. In use, the anvil 10800 is rotatable between an open, unclampedposition and a closed, clamped position; however, the cartridge jaw10600 can be rotatable toward the anvil 10800 in other embodiments. Thesurgical instrument 10000 further comprises a shaft 10100 wherein theend effector 10500 is rotatably connected to the shaft 10100 about anarticulation joint 10200. In use, the end effector 10500 is rotatableabout the articulation joint 10200 between a fully-articulated rightposition (FIG. 79A), indicated by angle θ_(R), and a fully-articulatedleft position (FIG. 79B), indicated by angle θ_(L)—and/or any suitableposition there between. As discussed in greater detail below, the anglesθ_(R) and θ_(L) are limited by the design of the articulation drivesystem of the surgical instrument 10000. In at least one instance theangles θ_(R) and θ_(L) are limited to approximately 45 degrees withrespect to the unarticulated position of the end effector 10500 (FIG.79).

Referring to FIG. 81, the shaft 10100 of the surgical instrument 10000comprises an outer closure tube including an outer housing 10110 whichis movable distally to engage the anvil 10800 and move the anvil 10800toward the staple cartridge 10700. The shaft 10100 further comprises adistal housing portion 10130 rotatably connected to the outer housing10110 by two connector plates 10120 positioned on opposite sides of thearticulation joint 10200. Each connector plate 10120 is connected to theouter housing 10110 at a pivot 10115 and, similarly, to the distalhousing portion 10130 at a pivot 10125. The connector plates 10120permit the closure tube to slide relative to the articulation joint10200 when the end effector 10500 is in an articulated position and, asa result, the anvil 10800 can be opened and closed while the endeffector 10500 is in an articulated position. Further to the above, thedistal housing 10130 comprises an opening defined therein configured toreceive a tab extending from the proximal end of the anvil 10800—asidewall of which is configured to engage the tab and transfer aproximal, or opening motion, of the closure tube to the anvil 10800.

An end effector 11500 of a surgical instrument 11000 is illustrated inFIGS. 80-80B. The end effector 11500 comprises a cartridge jaw 11600(FIG. 82) including a staple cartridge 11700 and, in addition, an anvil11800 configured to deform staples ejected from the staple cartridge11700. In use, the anvil 11800 is rotatable between an open, unclampedposition and a closed, clamped position; however, embodiments areenvisioned in which the cartridge jaw 11600 is movable relative to theanvil 11800. The surgical instrument 11000 further comprises a shaft11100 wherein the end effector 11500 is rotatably connected to the shaft11100 about an articulation joint 11200. In use, the end effector 11500is rotatable about the articulation joint 11200 between afully-articulated right position (FIG. 80A), indicated by angle α_(R),and a fully-articulated left position (FIG. 80B), indicated by angleα_(L)—and/or any suitable position there between. Although the anglesα_(R) and α_(L) are ultimately limited by the design of the articulationdrive system of the surgical instrument 11000, the angles α_(R) andα_(L) are larger. In at least one instance the angles α_(R) and α_(L)are approximately 60 degrees with respect to the unarticulated positionof the end effector 11500 (FIG. 80), for example.

Referring to FIG. 82, the shaft 11100 of the surgical instrument 11000comprises an outer closure tube including an outer housing 11110 whichis movable distally to engage the anvil 11800 and move the anvil 11800toward the staple cartridge 11700. The shaft 11100 further comprises adistal housing 11130 rotatably connected to the outer housing 11110 bytwo connector plates 11120 positioned on opposite sides of thearticulation joint 11200. Each connector plate 11120 is connected to theouter housing 11110 at a pivot 11115 and, similarly, to the distalhousing 11130 at a pivot 11125. Similar to the above, the connectorplates 11120 permit the closure tube to slide relative to thearticulation joint 11200 when the end effector 11500 is in anarticulated position wherein, as a result, the anvil 11800 can be openedand closed while the end effector 11500 is in an articulated position.Further to the above, the distal housing 11130 comprises an openingdefined therein configured to receive a tab extending from the proximalend of the anvil 11800—a sidewall of which is configured to engage thetab and transfer a proximal, or opening, motion of the closure tube tothe anvil 11800.

Referring again to FIG. 81, the surgical instrument 10000 furthercomprises an articulation drive system 10300 including an articulationdrive actuator 10310 extending through an interior aperture 10105defined within the closure tube 10110 of the shaft 10100. Thearticulation drive actuator 10310 comprises a distal end operablyengaged with the cartridge jaw 10600 of the end effector 10500. Morespecifically, the distal end of the articulation drive actuator 10310comprises an opening, or slot, 10320 defined therein and the cartridgejaw 10600 comprises a pin 10620 extending into the slot 10320. When thearticulation drive actuator 10310 is pushed distally, the end effector10500 is driven to the right (FIG. 79A) about a fixed axis defined by apivot 10210 which rotatably connects the cartridge jaw 10600 to a frameof the shaft 10100. Correspondingly, the end effector 10500 is rotatedto the left (FIG. 79B) about the pivot 10210 when the articulation driveactuator 10310 is pulled proximally.

Referring again to FIG. 82, the surgical instrument 11000 furthercomprises an articulation drive system 11300 including an articulationdrive actuator 11310 extending through an interior aperture 11105defined within the closure tube 11110. The articulation drive system11300 further comprises an articulation link 11320 rotatably coupled toa distal end of the articulation drive actuator 11310 about a pin 11315.Similarly, the articulation link 11320 is rotatably coupled to thecartridge jaw 11600 about a drive pin 11620 which extends through anaperture defined in the articulation link 11320. When the articulationdrive actuator 11310 is pushed distally, the end effector 11500 isdriven to the right (FIG. 80A) about a fixed axis defined by a pivot11210 which rotatably connects the cartridge jaw 11600 to a frame of theshaft 11100. Correspondingly, the end effector 11500 is rotated to theleft (FIG. 80B) about the pivot 11210 when the articulation driveactuator 11310 is pulled proximally.

Further to the above, the articulation link 11320 of the articulationsystem 11300 allows the end effector 11500 to be articulated through alarger range of articulation angles than the end effector 10500 for agiven, or equal, stroke length of the articulation actuators 10310 and11310. A side-by-side comparison of the end effectors 10500 and 11500 isprovided in FIGS. 83 and 84 illustrating the end effectors 10500 and11500 in their fully right-articulated configurations—and alsoillustrating that the end effector 11500 can be articulated further tothe right than the end effector 10500. A similar comparison can be madeshowing the end effectors 10500 and 11500 in their fullyleft-articulated configurations. Moreover, FIG. 85 depicts the fullarticulation range of the end effector 10500 while FIG. 86 depicts thefull articulation range of the end effector 11500.

Referring again to FIG. 85, the articulation actuator 10310 of thesurgical instrument 10000 is advanced a distal stroke length (DSL) withrespect to its unarticulated position to fully articulate the endeffector 10500 to the right. Correspondingly, the articulation actuator10310 is retracted a proximal stroke length (PSL) with respect to itsunarticulated position to fully articulate the end effector 10500 to theleft. The distal stroke length (DSL) and the proximal stroke length(PSL) of the articulation actuator 10310 are equal, or at leastsubstantially equal. Referring now to FIG. 86, the articulation actuator11310 is advanced a distal stroke length (DSL) with respect to itsunarticulated position to fully articulate the end effector 11500 to theright. Correspondingly, the articulation actuator 11310 is retracted aproximal stroke length (PSL) with respect to its unarticulated positionto fully articulate the end effector 11500 to the left. The distalstroke length (DSL) and the proximal stroke length (PSL) of thearticulation actuator 11310 are not equal—instead, the distal strokelength (DSL) is shorter than the proximal stroke length (PSL). In otherembodiments, the proximal stroke length (DSL) is shorter than the distalstroke length (PSL). In any event, referring now to FIGS. 94-94B, thecombination of the proximal stroke length (PSL) and the distal strokelength (DSL) equals the entire stroke length (SL).

Further to the above, the articulation actuator 10310 is configured toapply a torque to the first jaw 10600 of the end effector 10500 via thepin 10620 to rotate the end effector 10500 about the articulation joint10200. Referring again to FIG. 85, a lateral torque arm defined betweenthe pivot joint 10210 of the articulation joint 10200 and the pin 10620has a length TA_(C1) when the end effector 10500 is in its unarticulatedposition. The length TA_(C1) is measured in an orthogonal direction withrespect to a longitudinal axis 10190 extending through the articulationpivot joint 10210. Similarly, the lateral torque arm defined between thepivot joint 10210 and the pin 10620 has a length TA_(R1) when the endeffector 10500 is fully articulated to the right and, similarly, alength TA_(L1) when the end effector 10500 is fully articulated to theleft—both lengths of which are measured orthogonally with respect to thelongitudinal axis 10190. Notably, the lengths TA_(R1) and TA_(L1), andthe torque arms which they define, are equal, or at least substantiallyequal. Moreover, the lengths TA_(R1) and TA_(L1) are less than theunarticulated lateral torque arm length TA_(C1). Thus, the largesttorque arm, or mechanical advantage, of the articulation system 10300exists when the end effector 10500 is in its unarticulated position.

In at least one instance, the arm length TA_(C1) is approximately0.180″, the arm length TA_(R1) is approximately 0.130″, and the armlength TA_(L1) is approximately 0.130″, for example.

Further to the above, the articulation actuator 11310 of the surgicalinstrument 11000 is configured to apply a torque to the first jaw 11600of the end effector 11500 via the pin 11620 to rotate the end effector11500 about the articulation joint 11200. Referring to FIGS. 86, 91, and93, a lateral torque arm (LTA) defined between the pivot joint 11210 ofthe articulation joint 11200 and the pin 11620 is defined by a lengthTA_(C2) when the end effector 11500 is in its unarticulated position.The length TA_(C2) is measured in an orthogonal direction with respectto a longitudinal axis 11190 extending through the articulation pivotjoint 11210. Notably, the longitudinal axis 11190 is offset and parallelwith respect to the centerline of the shaft 11100, as discussed ingreater detail below in connection with FIG. 88. Similar to the above,the lateral torque arm defined between the pivot joint 11210 and the pin11620 is defined by a length TA_(R2) when the end effector 11500 isfully articulated to the right (FIG. 93A) and, similarly, a lengthTA_(L2) when the end effector 11500 is fully articulated to the left(FIG. 93B)—both lengths of which are measured orthogonally with respectto the longitudinal axis 11190. Notably, the length TA_(R2) is largerthan the unarticulated lateral torque arm length TA_(C1) and the lengthTA_(L2) is shorter than the unarticulated lateral torque arm lengthTA_(C1). Moreover, the lengths TA_(R2) and TA_(L2), and the torque armswhich they define, are not equal. Instead, the right-articulated torquearm length TA_(R2) is considerably larger than the left-articulatedtorque arm length TA_(L2). In fact, the right-articulated torque armlength TA_(R2) and the left-articulated torque arm length TA_(L2) extendin different directions. Such an arrangement provides for a largerpushing torque arm as compared to a smaller pulling torque arm. Invarious instances, as a result, the retraction pulling force applied bythe articulation actuator 11310 to articulate the end effector 11500 tothe left (FIG. 93B) may be, or may need to be, larger than the distalpushing force to articulate the end effector 11500 to the right (FIGS.92 and 93A). Advantageously, the articulation actuator 11310 canaccommodate such a larger pulling force as the articulation actuator11310 is not subject to buckling failure when being pulled.

In at least one instance, the arm length TA_(C2) is approximately0.149″, the arm length TA_(R2) is approximately 0.154″, and the armlength TA_(L2) is approximately 0.015″, for example.

Further to the above, the surgical instrument 11000 is configured andarranged to provide a large torque to the end effector 11500 while, atthe same time, providing a large articulation range, or sweep, inresponse to a short articulation stroke. To wit, several design ratiosfor these relationships can be established and used to design thesurgical instrument 11000. For instance, a first ratio comprises thefully-right articulated torque arm length (TA) divided by the fullarticulation stroke length (SL) of the articulation actuator 11310. Thevalue of this first ratio is unitless. In at least one instance, thefully-right articulated torque arm length (TA) is 0.154″ and the fullarticulation stroke length (SL) is 0.275″, resulting in a ratio value of0.56, for example. Larger ratio values for the first ratio indicate moreefficient articulation systems. In various instances, the value for thefirst ratio is less than 1.0, but can be more than 1.0. In at least oneinstance, the fully-right articulated torque arm length (TA) is 2.79 mmand the full articulation stroke length (SL) is 11.43 mm, resulting in aratio value of 0.24, for example.

The examples provided above for the first ratio were based on the torquearm length (TA) when the end effector 11500 is in its fully-rightarticulated position. This particular position of the end effector 11500is notable because the articulation actuator 11310 is in compression andcan undergo buckling when the load transmitted there through isexcessive. That said, the first ratio could also be used to analyze anysuitable position of the end effector 11500 such as its unarticulatedposition and its fully-left articulated position, for example. In atleast one instance, the unarticulated torque arm length (TA) is 6.17 mm,resulting in a ratio value of 0.54 for a stroke length (SL) of 11.43 mm,for example. Also, in at least one instance, the fully-left articulatedtorque arm length (TA) is 1.41 mm, resulting in a ratio value of 0.12for a stroke length (SL) of 11.43 mm, for example.

A second ratio includes the arc length in which the drive pin 11620 isswept through when the end effector 11500 is articulated between itsfully-right articulated position and its fully-left articulatedposition, i.e., its arc length sweep (ALS). More specifically, thesecond ratio comprises the arc length sweep (ALS) of the drive pin 11620divided by the full articulation stroke length (SL) of the articulationactuator 11310. The value of this second ratio is unitless. In at leastone instance, the arc length sweep (ALS) of the drive pin 11620 is0.387″ and the full articulation stroke length (SL) is 0.275″, resultingin a ratio value of 1.41, for example. In at least one instance, the arclength sweep (ALS) is 0.444″ and the full articulation stroke length(SL) is 0.306″, resulting in a ratio value of 1.45, for example. In atleast one instance, the arc length sweep (ALS) is 12.94 mm and the fullarticulation stroke length (SL) is 11.43 mm, resulting in a ratio valueof 1.13, for example. Larger ratio values for the second ratio indicatemore efficient articulation systems. In various instances, the value forthe second ratio is more than 1.0, such as between 1.0 and 3.0, forexample. In at least one instance, the second ratio value isapproximately 2.0, for example. In certain instances, the value for thesecond ratio is about 1.1, but between 0.9 and 1.3, for example.

A third ratio comprises the sum of the fully-right articulated torquearm length (TA) and the arc length sweep (ALS) of the drive pin 11620divided by the full articulation stroke length (SL). The value of thisthird ratio is unitless. In at least one instance, the fully-rightarticulated torque arm length (TA) is 0.154″, the arc length sweep (ALS)of the drive pin 11620 is 0.387″, and the full articulation strokelength (SL) is 0.275″, resulting in a ratio value of 1.97, for example.In at least one instance, the fully-right articulated torque arm length(TA) is 2.79 mm, the arc length sweep (ALS) of the drive pin 11620 is12.94 mm, and the full articulation stroke length (SL) is 11.43 mm,resulting in a ratio value of 1.38, for example. Larger ratio values forthe third ratio indicate more efficient articulation systems. In variousinstances, the value for the third ratio is more than 1.0, such asbetween 1.0 and 3.0, for example. In at least one instance, the thirdratio value is approximately 2.0 or more than 2.0, for example.

Similar to the above, the third ratio could be used to evaluate thearticulation system when the end effector 11500 is in any suitableposition, such as its unarticulated and fully-left articulatedpositions, for example.

A fourth ratio comprises the product of the fully-right articulatedtorque arm length (TA) and the arc length sweep (ALS) of the drive pin11620 divided by the full articulation stroke length (SL). The value ofthis fourth ratio is not unitless and is, instead, measured in distance.In at least one instance, the fully-right articulated torque arm length(TA) is 0.154″, the arc length sweep (ALS) of the drive pin 11620 is0.387″, and the full articulation stroke length (SL) is 0.275″,resulting in a ratio value of 0.217″, for example. This value can bemade unitless by dividing it by the stroke length (SL) once againresulting in a value of 0.79. In at least one instance, the fully-rightarticulated torque arm length (TA) is 2.79 mm, the arc length sweep(ALS) of the drive pin 11620 is 12.94 mm, and the full articulationstroke length (SL) is 11.43 mm, resulting in a ratio value of 3.15 mm,for example. In certain instances, the value for the fourth ratio isabout 3.1 mm, but between 0.9 mm and 5.4 mm, for example. Similar to theabove, this value can be made unitless by dividing it by the strokelength (SL) once again resulting in a value of 0.28. Larger ratio valuesfor the fourth ratio indicate more efficient articulation systems.

Similar to the above, the fourth ratio could be used to evaluate thearticulation system when the end effector 11500 is in any suitableposition, such as its unarticulated and fully-left articulatedpositions, for example.

As discussed above, the end effector 11500 is rotatably mounted to theshaft 11100 about a fixed pivot 11210 of the articulation joint 11200.Referring now to FIGS. 87 and 88, the shaft 11100 comprises distalmounting tabs 11220 which extend from and are fixedly mounted to theframe, or spine, of the shaft 11100. A first distal mounting tab 11220is mounted to the first jaw 11600, which comprises a lower frameportion, and a second distal mounting tab 11220 is mounted to an upperframe portion 11230. The interconnection between the mounting tabs 11220and the first jaw 11600 and upper frame portion 11230 defines the fixedpivot 11210. As also discussed above, the fixed axis pivot 11210 islaterally offset with respect to a central longitudinal axis LA of theshaft 11100 by an offset distance OD. In at least one instance, thefixed axis pivot 11210 is laterally offset by approximately 0.036″, forexample. Moreover, referring to FIGS. 91-93B, the pin 11620 islongitudinally offset with respect to the fixed pivot 11210 whichcreates a longitudinal, or axial, torque arm (ATA).

As discussed above, the closure tube of the shaft 11100 is movabledistally to engage the anvil jaw 11800 of the end effector 11500 andmove the anvil jaw 11800 toward a staple cartridge 11700 positioned inthe cartridge jaw 11600. Stated another way, the closure tube isconfigured to move the anvil 11800 from an open position (FIGS. 89-89B)to a closed position (FIGS. 90-90B) to clamp the tissue of a patientagainst the staple cartridge 11700. In such instances, the closure tube,comprising the housing 11110, the connector plates 11120, and the distalhousing 11130, are slid distally with respect to the articulation joint11200 during a closure stroke. When the end effector 11500 is in anopen, unarticulated configuration, referring now to FIG. 89, theconnector plates 11120 extend in a direction which is slightlytransverse to the central longitudinal axis LA of the shaft 11100. Morespecifically, an axis CA extending between the joints 11115 and 11125 isslightly transverse with respect to the central longitudinal axis LA ofthe shaft 11100 when the end effector 11500 is in an open, unarticulatedconfiguration. When the end effector 11500 is articulated relative tothe right (FIG. 89A) or the right (FIG. 89B), the orientation of theaxis CA relative to the central longitudinal axis LA can change.

In various instances, further to the above, the orientation of the axisCA will change relative to a longitudinal axis extending between theproximal end and the distal end of the end effector 11500. In at leastone instance, the axis CA is transverse to such a longitudinal endeffector axis except in one configuration in which the axis CA will beparallel to the longitudinal end effector axis.

Further to the above, the orientation of an axis AA defined between thearticulation pivot 11210 and the distal pivot 11125 of the connectorplates 11120 changes as the end effector 11500 is articulated. Referringto FIG. 89, the axis AA extends at an angle β with respect to the axisCA when the end effector 11500 is in an open, unarticulatedconfiguration. When the end effector 11500 is articulated into an open,right configuration (FIG. 89A), the angle β decreases. When the endeffector 11500 is articulated into an open, left configuration (FIG.89B), the angle β increases. At no point, however, is the axis AAcollinear with or parallel to the axis CA when the open end effector11500 is articulated. Instead, the axis AA is transverse to the axis CAwhen the end effector 11500 is articulated in an open configuration.

Referring to FIG. 90, the axis AA extends at an angle γ with respect tothe axis CA when the end effector 11500 is in a closed, unarticulatedconfiguration. When the end effector 11500 is articulated into a closed,right configuration (FIG. 90A), the angle γ increases. When the endeffector 11500 is articulated into a closed, left configuration (FIG.90B), the angle δ also increases. At no point, however, is the axis AAcollinear with the axis CA when the end effector 11500 is articulated ina closed configuration, and/or any other configuration between an openconfiguration and a closed configuration. Instead, the axis AA istransverse to the axis CA when the end effector 11500 is articulated ina closed configuration and/or any other configuration between an openconfiguration and a closed configuration.

Referring again to FIGS. 83 and 84, the design of the surgicalinstrument 11000 can shorten the end effector 11500 as compared to theend effector 10500. Also, the distance between the articulation joint10200 and the proximal end of the staple line that is applied to thetissue of a patient by the end effector 10500 is a distance L1—while thedistance between the articulation joint 11200 and the proximal end ofthe staple line that is applied by the end effector 11500 is a distanceL2, which is shorter than the distance L1.

Turning now to FIGS. 103-108, the surgical instrument 11000 furthercomprises an articulation lock 11400 configured to selectively lock thearticulation drive system 11300 and the end effector 11500 in position.The articulation lock 11400 comprises a distal end 11402 mounted to aframe 11180 of the shaft 11100. More particularly, the shaft frame 11180comprises pins, or projections, 11182 closely received and/or pressedwithin apertures defined in the distal end 11402. The articulation lock11400 further comprises a proximal end 11404 configured to move relativeto the distal end 11402. In at least one respect, the articulation lock11400 comprises a cantilever beam where the distal end 11402 comprises afixed end and the proximal end 11404 comprises a free end. The proximalend 11404 is positioned in a cavity 11184 defined in the shaft frame11180 and is configured to move laterally toward and away from thearticulation drive actuator 11310, as described in greater detail below.

Further to the above, the proximal end 11404 of the articulation lock11400 comprises one or more teeth 11406 defined thereon which areconfigured to engage the articulation drive actuator 11310. Asillustrated in FIG. 103, the teeth 11406 are arranged in a longitudinalarray; however, any suitable arrangement may be used. The articulationdrive actuator 11310 comprises a longitudinal array of teeth 11316defined thereon which are configured to be engaged by the articulationlock teeth 11406. Referring to FIG. 104, the shaft frame 11180 furthercomprises a longitudinal array of teeth 11186 defined therein which arealso configured to be engaged by the articulation lock teeth 11406. Whenthe articulation lock 11400 is in a fully-locked state, as described ingreater detail below, the articulation lock teeth 11406 are engaged withthe drive actuator teeth 11316 and the shaft frame teeth 11186 such thatthe articulation lock 11400 locks the articulation drive actuator 11310to the shaft frame 11180 and prevents, or at least inhibits, relativemovement between the articulation drive actuator 11310 and the shaftframe 11180.

Further to the above, the articulation lock 11400 is configurable inthree states—a self-locked state, an unlocked state, and a fully-lockedstate. When the articulation lock 11400 is in a self-locked stated,referring to FIG. 106, the teeth 11406 of the articulation lock 11400are engaged with the drive actuator teeth 11316 and the shaft frameteeth 11186. In such instances, the articulation lock 11400 can resistsome force transmitted through the articulation drive actuator 11310;however, proximal and/or distal movement of the articulation driveactuator 11310 can overcome the holding force of the articulation lock11400 and displace the articulation lock 11400 into its unlockedconfiguration, as illustrated in FIG. 107. In such instances, thearticulation lock 11400 can flex or deflect laterally away from thedrive actuator 11310. The articulation lock 11400 comprises a springmember 11403 extending between the distal portion 11402 and the proximalportion 11404 which is configured to resiliently return, or at leastbias, the articulation lock toward its self-locked configuration (FIG.105). As a result, the articulation drive system 11300 can lock andunlock itself as a result of its own motion and articulate the endeffector 11500 unless the articulation lock 11400 is placed in itsfully-locked position, as discussed below.

As discussed further above, the shaft 11100 of the surgical instrument11000 comprises a closure tube 11110 that is advanced distally during aclosure stroke to close the end effector 11500. Prior to the closurestroke, the articulation lock 11400 is movable between its self-lockedand unlocked configurations to permit the end effector 11500 to bearticulated by the articulation drive system 11300. During the closurestroke, however, the closure tube 11110 is configured to engage thearticulation lock 11400 and place or hold the articulation lock 11400 inits fully-locked configuration. More specifically, the closure tube11110 comprises a projection, or tab, 11118 configured to engage a camsurface 11408 defined on the back side of the articulation lock 11400and prevent the articulation lock teeth 11406 from becoming demeshedfrom the drive actuator teeth 11316 and the shaft frame teeth 11186.When the closure tube 11110 is retracted proximally to open the endeffector 11500, the tab 11118 disengages from the articulation lock11400 and the articulation lock 11400 is free to move between itsself-locked and unlocked positions, as discussed above, so that the endeffector 11500 can be articulated once again.

The surgical instrument 11000 described above is further illustrated inFIGS. 143-145. The surgical instrument 11000 comprises a shaft 11100which is configured for use with a trocar having a passageway definedtherein. The surgical instrument shaft 11100 comprises differentdiameters at different points along the length of the surgicalinstrument shaft 11100. Among other things, the surgical instrumentshaft 11100 comprises a central region 11160 comprising a smallerdiameter than any other region of the surgical instrument shaft 11000.This geometry of the surgical instrument shaft 11100 providessignificant advantages over previous designs and solves a long feltproblem associated with the use of a trocar. Typically, when a surgicalinstrument is used in combination with a trocar during a surgicalprocedure, the surgical procedure is limited by the range of angles theinstrument can take as a result of constrictions created by the trocarpassageway. The configuration of the surgical instrument shaft 11100 isan improvement over existing shaft configurations because it increasesthe range of angles that a surgical instrument can take relative to thelongitudinal axis of a trocar. As a result, the user of the surgicalinstrument 11000 can manipulate the surgical instrument 11000 in avariety of angles relative to the longitudinal axis of the trocar due tothe smaller diameter of the central region 11160 of the surgicalinstrument shaft 11100.

Referring to FIGS. 143 and 144, the surgical instrument shaft further11100 comprises a proximal region 11150 and a distal region 11170. Theproximal region 11150 of the surgical instrument shaft 11000 is locatedadjacent to a nozzle assembly 11140 of the shaft 11100. The distalregion 11170 is located closest to the end effector 11500. The proximalregion 11150 of the surgical instrument shaft comprises a firstdiameter, and the central region 11160 comprises a second diameter. Thedistal region 11170 further comprises a third diameter. The firstdiameter of the proximal region 11150 is different than the seconddiameter of the central region 11160. Similarly, the second diameter ofthe central region 11160 is different than the third diameter of thedistal region 11170. The first diameter of the proximal region 11150 isdifferent than the third diameter of the distal region 11170; however,embodiments are envisioned in which the first diameter and the thirddiameter are the same.

Further to the above, the proximal region 11150 defines a centrallongitudinal axis. The central region 11160 extends along the centrallongitudinal axis and is centered with respect to the centrallongitudinal axis. The proximal region 11150 and the central region11160 each define a circular profile, although they can comprise anysuitable configuration. The distal region 11170 is not centered withrespect to the central longitudinal axis. Instead, the distal region11170 is offset laterally with respect to the central longitudinal axis.Moreover, more of the cross-section and/or perimeter of the distalregion 11170 is positioned on a first side of the central longitudinalaxis than a second side. In at least one instance, the distal region11170 comprises an enlargement extending to one side of the centrallongitudinal axis. Additionally, the distal region 11170 does not definea circular profile.

Still referring to FIGS. 143 and 144, the central region 11160 comprisesa second width that is smaller than the first width of the proximalregion 11150. The central region further comprises a second width whichis smaller than the third width of the distal region 11170. The proximalregion 11150 further comprises a different width than the width of thedistal region 11170. For example, the width of the proximal region 11150is smaller than the width of the distal region 11170, but is stilllarger than the width of the central region 11160. Similarly, the widthof the proximal region 11150 is larger than the width of the distalregion 11170 and the width of the central region 11160. In otherinstances, the proximal region 11150 and the distal region 11170comprise approximately the same width.

Referring to FIGS. 143-145, the surgical instrument shaft 11100 of thesurgical instrument 11000 is configured to fit through a 12 mm trocar,for example. In at least one such instance, the central region 11160 ofthe surgical instrument shaft 11100 comprises a maximum diameter ofapproximately 9 mm. Such a diameter of the central region 11160 providesfor a wider range of angles that the shaft 11100 can take relative tothe centerline of the trocar. Also, such an arrangement can reduce thepossibility of causing intercostal nerve damage associated with placingthe surgical instrument shaft 11100 between the ribs of a patient duringcertain surgical procedures. The distal region 11170 of the surgicalinstrument shaft 11100 is configured to fit through a 12 mm trocar, andcomprises one or more flat sides 11172 in order to provide for anincreased level of access during procedures which require a high levelof articulation. Other embodiments are envisioned in which the shaft11100 is inserted through a 8 mm trocar and/or a 5 mm trocar, forexample.

The proximal region 11150 comprises a stepped down, or tapered, regionnear the proximal end of the surgical instrument shaft 11100, where thesurgical instrument shaft 11100 transitions from the proximal region11150 to the central region 11160. The central region 11160 furthercomprises a stepped up, or tapered, region near the distal end of thesurgical instrument shaft 11100, where the surgical instrument shaft11100 transitions from the central region 11160 to the distal region11170.

Still referring to FIGS. 143 and 144, the proximal region 11150comprises a first circumference, the central region 11160 comprises asecond circumference, and the distal region 11170 comprises a thirdcircumference. The circumference of the proximal region 11150 isdifferent than the circumference of the central region 11160, owing tothe difference in diameters of such portions of the surgical instrumentshaft 11100. Similarly, the circumference of the central region 11160and the circumference of the distal region 11170 are different. Thecircumference of the proximal region 11150 and the circumference of thedistal region 11170 are the same, but can be different in otherembodiments.

Referring again to FIGS. 143 and 144, the surgical instrument shaft11100 comprises a single, formed piece of material, although thesurgical instrument shaft 11100 can comprise multiple pieces of materialthat are combined to form a single, cohesive surgical instrument shaftin other instances. The pieces of material can be assembled using anyappropriate process. The surgical instrument shaft 11100 is configuredto operate with a variety of surgical arrangements not limited to thesurgical stapling instruments described above. The surgical instrumentshaft 11100 can be used with other surgical instruments havingarticulatable end effectors. The other surgical instruments can include,for example, ultrasonic surgical devices, clip appliers, and fastenerappliers. In addition, the surgical instrument shaft 11100 is configuredfor use with any surgical instrument wherein use of a trocar passagewayis appropriate.

Further to the above, the outer tube 11110 of the shaft 11100 comprisesa proximal end 11150 and a longitudinal portion 11160 comprising adiameter, or width, which is narrower than the diameter, or width, ofthe proximal end 11150. That said, the surgical instrument 11000 isconfigured and arranged to provide a large torque to the end effector11500 while, at the same time, the longitudinal portion 11160 comprisesa narrow diameter. To wit, at least one design ratio for thisrelationship can be established and used to design the surgicalinstrument 11000. For instance, one ratio comprises the diameter of thelongitudinal portion 11160 (D) divided by the fully-right articulatedtorque arm length (TA). The value of this ratio is unitless. In at leastone instance, the diameter of the longitudinal portion 11160 (D) is0.316″ and the torque arm length (TA) is 0.154″, resulting in a ratiovalue of 2.06, for example. Smaller values for this ratio indicate moreefficient articulation systems. In various instances, the value for thisratio is less than 2.0, such as between 1.0 and 2.0, for example. In atleast one instance, the ratio value is between 2.0 and 3.0, for example.In certain instances, the ratio value is smaller than 3.38, for example.

Further to the above, the outer tube 11110 of the shaft 11100 comprisesa longitudinal portion 11160 and an enlarged distal end 11170 (FIG.143). Referring again to FIG. 103, the entirety of the articulation lock11400 is positioned in the longitudinal portion 11160 and not theenlarged distal end 11170. Embodiments are envisioned, however, in whichat least a portion of the articulation lock 11400 is positioned in theenlarged distal end 11170. In at least one such instance, thearticulation lock 11400 is mounted to the shaft frame such that thedistal end 11402 of the articulation lock 11400 is in the enlargeddistal end 11170 of the outer tube 11110. In certain instances, thearticulation lock 11400 is re-arranged such that the movable end of thearticulation lock 11400 is positioned in the enlarged distal end 11170of the outer tube 11110. In various instances, the entirety of thearticulation lock 11400 is positioned in the enlarged distal end 11170.

Turning now to FIG. 109, a surgical instrument 14000 comprises a shaft14100, an end effector 11500, and, in addition, an articulation drivesystem including an articulation drive actuator 14310 configured toarticulate the end effector 11500. The shaft 14100 comprises anarticulation lock system configured to selectively lock the articulationdrive actuator 14310 and the end effector 14500 in position. Thearticulation lock system comprises an articulation lock 14400 includingproximal end and distal ends mounted to a frame 14180 of the shaft14100. In at least one respect, the articulation lock 14400 comprises abeam fixedly and/or simply-supported at both ends. The articulation lock14400 further comprises an intermediate portion 14404 positioned in acavity 14184 defined in the shaft frame 14180 which is configured tomove laterally toward and away from an articulation drive actuator 14310of the articulation drive system 14300. Similar to the above, thearticulation lock 14400 comprises one or more spring portions 14403configured to permit the articulation lock 14400 to flex toward and awayfrom the articulation drive actuator 14310.

Further to the above, the intermediate portion 14404 of the articulationlock 14400 comprises one or more teeth 14406 defined thereon which areconfigured to engage the articulation drive actuator 14310. The teeth14406 are arranged in a longitudinal array; however, any suitablearrangement may be used. The articulation drive actuator 14310 comprisesa longitudinal array of teeth 14316 defined thereon which are configuredto be engaged by the articulation lock teeth 14406. The articulationlock system further comprises a lock plate 14420 slidably positioned inthe shaft cavity 14184 which includes a longitudinal array of teeth14226 defined therein which are also configured to be engaged by thearticulation lock teeth 14406. When the articulation lock 14400 is in afully-locked state, as described in greater detail below, thearticulation lock teeth 14406 are engaged with the drive actuator teeth14316 and the lock plate teeth 14226 such that the articulation lock14400 locks the articulation drive actuator 14310 in position andprevents, or at least inhibits, relative movement between thearticulation drive actuator 14310 and the shaft frame 14180.

The lock plate 14420 comprises a shoulder 14424 which is positionedunder the articulation drive actuator 14310. The lock plate teeth 14426are defined on a lateral edge of the shoulder 14424 and aresubstantially aligned with the teeth 14316 defined in the articulationdrive actuator 14310. In at least one instance, the articulation driveactuator teeth 14316 are aligned along a first teeth axis and the lockplate teeth 14406 are defined along a second teeth axis which isparallel, or at least substantially parallel, to the first teeth axis.In various instances, the drive actuator teeth 14316 are defined in aplane which is parallel to a plane including the lock plate teeth 14406.Such arrangements permit the articulation lock 14400 to simultaneouslyengage the lock plate 14420 and the articulation drive actuator 14310.Although the first teeth axis and the second teeth axis are parallel toa longitudinal axis of the shaft 14100, embodiments are envisioned inwhich the first teeth axis and the second teeth axis are skew ortransverse with respect to the longitudinal axis of the shaft 14100.

Referring again to FIG. 109, the lock plate 14420 is slidablelongitudinally within the cavity 14184; however, the longitudinalmovement of the lock plate 14420 is limited by proximal and distal endwalls 14427. As a result, the lock plate 14420 can float within theshaft cavity 14184 between the end walls 14427. In various instances,the lock plate teeth 14426 may not be completely aligned with the driveactuator teeth 14316 when the articulation lock 14400 engages the teeth14426 and 14316. In such instances, the lock plate 14420 can movelongitudinally, to a certain degree, such that the lock plate teeth14426 are aligned with the drive actuator teeth 14316. In variousinstances, the lock plate 14420 can move in response to a locking forceapplied thereto by the articulation lock 14400. In at least oneinstance, the lock plate 14420 can be permitted to move distally onetooth pitch distance and proximally one tooth pitch distance withrespect to its centered position, for example, wherein a tooth pitchdistance is the distance between the peaks of adjacent lock teeth 14426of the lock plate 14420. In other instances, the lock plate 14420 can bepermitted to move distally ¼ of a tooth pitch distance and proximally ¼of a tooth pitch distance with respect to its centered position, forexample. In various instances, the lock plate 14420 can be permitted tomove proximally and distally more than one toot pitch distance.

Further to the above, the articulation lock 14400 is configurable inthree states—a self-locked state, an unlocked state, and a fully-lockedstate. When the articulation lock 14400 is in a self-locked stated, theteeth 14406 of the articulation lock 14400 are engaged with the driveactuator teeth 14316 and the shaft frame teeth 14186. In such instances,the articulation lock 14400 can resist some force transmitted throughthe articulation drive actuator 14310; however, proximal and/or distalmovement of the articulation drive actuator 14310 can overcome theholding force of the articulation lock 14400 and displace thearticulation lock 14400 into its unlocked configuration. In suchinstances, the articulation lock 14400 can flex or deflect laterallyaway from the drive actuator 14310 so that the end effector 11500 can bearticulated. Similar to the above, the spring members 14403 of thearticulation lock 14400 can resiliently return, or at least bias, thearticulation lock 14400 toward its self-locked configuration. As aresult, the articulation drive system can lock and unlock itself as aresult of its own motion unless it is placed in its fully-lockedposition, as discussed below.

Similar to the above, the shaft 14100 of the surgical instrument 14000comprises a closure tube that is advanced distally during a closurestroke to close the end effector 11500. Prior to the closure stroke, thearticulation lock 14400 is movable between its self-locked and unlockedconfigurations to permit the end effector 11500 to be articulated by thearticulation drive system. During the closure stroke, the closure tubeis configured to engage the articulation lock 14400 and place, block,and/or hold the articulation lock 14400 in its fully-lockedconfiguration. More specifically, the closure tube comprises a cam 14118configured to engage a cam surface 14405 defined on the back side of thearticulation lock 14400 and prevent the articulation lock teeth 14406from becoming de-meshed from the drive actuator teeth 14316 and theshaft frame teeth 14186. The cam 14118 comprises an angled surface 14115which engages a corresponding angled surface defined on the cam surface14405, although any suitable arrangement could be used. When the closuretube is retracted proximally to permit the end effector 11500 to beopened, the tab 14118 disengages from the articulation lock 14400 andthe articulation lock 14400 is free to move between its self-locked andunlocked positions, as discussed above, so that the end effector 11500can be articulated once again.

When the articulation lock 14400 is moved into its fully-lockedconfiguration by the closure tube, referring again to FIG. 109, thearticulation lock 14400 pushes the lock plate 14420 against a lateralsidewall 14183 of the shaft cavity 14184. In fact, the articulation lock14400 engages the lock plate 14420 with sufficient force to pin the lockplate 14420 against the sidewall 14183 such that the lock plate 14420cannot move, or at least substantially move, longitudinally with respectto the shaft frame 14180. The lock plate 14420 comprises one or moreprojections 14422 extending therefrom which are configured to dig into,bite, and/or deflect the sidewall 14183 of the shaft cavity 14184 whenthe lock plate 14420 is pushed against the sidewall 14183 to prevent, orat least reduce the possibility of, the lock plate 14420 from movinglongitudinally relative to the shaft frame 14180.

Further to the above, the shaft frame 14180 comprises one or morecavities, or openings, defined therein which are configured to permitand/or facilitate the deflection of the sidewall 14183. For example, asillustrated in FIG. 109, the shaft frame 14180 comprises cavities 14182defined therein which are aligned, or at least substantially aligned,with the projections 14422. When the lock plate 14420 is displacedlaterally by the closure tube, as discussed above, the sidewall 14183elastically displaces into the cavities 14182 and the lock plate 14420is locked in position. In such instances, the engagement between theshaft frame 14180 and the lock plate 14420 prevents the articulationdrive actuator 14310 from being moved longitudinally and locks the endeffector 11500 in position. When the closure tube is retracted anddisengaged from the articulation lock 14400, the sidewall 14183 canreturn to its unflexed state and displace the lock plate 14420laterally. At such point, the lock plate 14420 is unlocked and the endeffector 11500 can be articulated, as outlined above.

A surgical instrument 15000 is illustrated in FIGS. 110-112 and issimilar to the surgical instrument 14000 in many respects, most of whichwill not be repeated herein for the sake of brevity. Among other things,the surgical instrument 15000 comprises a shaft, an end effector 11500,and an articulation drive system including an articulation driveactuator 14310. The surgical instrument 15000 further comprises anarticulation locking system including an articulation lock 15400 whichis, similar to the above, movable between a self-locking position, anunlocked position, and a fully-locked position. The articulation lockingsystem further comprises a lock plate 15420 which is similar to the lockplate 14420 in many respects. For instance, the lock plate 15420 ismovable laterally into engagement with the wall 14183. Also, forinstance, the lock plate 15420 is movable longitudinally to float into asuitable locked position in which an array of teeth 15426 defined on thelock plate 15420 are meshed with the teeth 14406 of the articulationlock 15400, as depicted in FIG. 111. That said, the shaft of thesurgical instrument 15000 further comprises a distal spring 15429positioned intermediate the lock plate 15420 and a distal end wall 15427defined in the shaft frame and, in addition, a proximal spring 15429positioned intermediate the lock plate 15420 and a proximal end wall15427 defined in the shaft frame. The springs 15429 are configured toposition the lock plate 15420 in a centered, or balanced, positionbetween the end walls 15427, which is illustrated in FIG. 110. Such acentered position creates a proximal gap (PG) and a distal gap (DG)between the end walls 15427 and the lock plate 15420 which are equal, orat least substantially equal, to one another. That said, the springs15429 may experience different deflections or loading when the lockplate 15420 seats itself into meshing engagement with the articulationlock 15400, as illustrated in FIG. 112, which may create unequal gaps PGand DG.

A surgical instrument 16000 is illustrated in FIGS. 113-115 and issimilar to the surgical instruments 14000 and 15000 in many respects,most of which will not be repeated herein for the sake of brevity. Amongother things, the surgical instrument 16000 comprises a shaft, an endeffector 11500, and an articulation drive system including anarticulation driver 16310. Referring primarily to FIG. 113, the surgicalinstrument 16000 further comprises an articulation locking systemincluding an articulation lock 16400 which is, similar to the above,configurable in a self-locking configuration, an unlocked configuration,and a fully-locked configuration. The articulation locking systemfurther comprises a lock plate 16420 which is similar to the lock plate14420 in many respects. For instance, the lock plate 16420 is movablelaterally into engagement with the wall 14183, as illustrated in FIG.114. Also, for instance, the lock plate 16420 is movable longitudinallyto float into a suitable locked position in which teeth 16426 of thelock plate 16420 are meshed with the teeth 16406 of the articulationlock 16400, as depicted in FIG. 115. Moreover, the teeth 16406 of thearticulation lock 16400, the teeth 16426 of the lock plate 16420, andthe lock teeth 16316 of the articulation driver 16310 are configured andarranged to provide a plurality of positions, or permutations ofpositions, in which the articulation lock 16400 can lock thearticulation driver 16310 to the lock plate 16420. For instance, thearticulation lock system has reached a fully-locked configuration in aset of positions illustrated in FIG. 114 and a fully-lockedconfiguration in a different set of positions illustrated in FIG. 115.

The above-discussed adaptability of the articulation locking system canbe achieved via the tooth pitches of the articulation lock teeth 16406,the articulation driver teeth 16316, and the lock plate teeth 16426. Forinstance, referring primarily to FIG. 113, the articulation lock teeth16406 are set at a first pitch 16407, the articulation driver teeth16316 are set at a second pitch 16317, and the lock plate teeth 16426are set at a third pitch 16427. The first pitch is different than thesecond pitch and the third pitch—the second pitch is different than thefirst pitch and the third pitch—and the third pitch is different thanthe first pitch and the second pitch, although embodiments areenvisioned in which two of the first pitch, the second pitch, and thethird pitch are the same. Referring again to FIG. 113, the third pitch16427 of the lock plate teeth 16426 is larger than the second pitch16317 of the articulation driver teeth 16316, and the second pitch 16317is larger than the first pitch 16407 of the articulation lock teeth16406, although any suitable arrangement can be used.

A surgical instrument 17000 is illustrated in FIGS. 116-119 and issimilar to the surgical instrument 11000 in many respects, most of whichwill not be repeated herein for the sake of brevity. The surgicalinstrument 17000 comprises a shaft, an end effector 11500 rotatablyconnected to the shaft about an articulation joint 11200, and anarticulation drive system configured to articulate the end effector11500 about the articulation joint 11200. Similar to the above, thearticulation drive system comprises an articulation link 17320 rotatablymounted to the jaw 11600 about a pin 11620 and an articulation driver17310 rotatably mounted to the articulation link 17320 about a pin17315. The surgical instrument 17000 further comprises an articulationlock 17400 movably mounted to a shaft frame of the surgical instrument17000 which is movable between an unlocked position and a lockedposition. The articulation lock 17400 comprises a distal end 17402fixedly mounted to the shaft frame and a proximal end 17404 slidablymounted to the shaft frame. More specifically, the shaft frame comprisesa pin extending into an aperture defined in the distal end 17402 of thearticulation lock 17400 and a guide projection 17114 extending into anelongate aperture defined in the proximal end 17404. In certaininstances, the shaft frame can comprise two or more pins extending intoapertures defined in the distal end 17402 of the articulation lock 17400to fix the distal end 17402 to the shaft frame and prevent the distalend 17402 from rotating relative to the shaft frame. As a result of theabove, at least the proximal end 17404 of the articulation lock 17400 ismovable relative to the shaft frame to engage the articulation driver17310 and lock the articulation system and end effector 11500 inposition.

Further to the above, the articulation driver 17310 comprises alongitudinal rack of teeth 17316 defined thereon and the articulationlock 17400 comprises a longitudinal rack of teeth 17406 defined thereon.When the articulation lock 17400 is in its unlocked position, asillustrated in FIGS. 116-117, the teeth 17406 of the articulation lock17400 are not engaged with the teeth 17316 of the articulation driver17310. In such instances, the articulation driver 17310 can move freelyrelative to the articulation lock 17400 to articulate the end effector11500. When the articulation lock 17400 is in a partially-lockedposition, as illustrated in FIG. 118, the articulation lock teeth 17406are partially engaged with the articulation driver teeth 17316. In suchinstances, the proximal and distal movement of the articulation driver17310 is impeded by the articulation lock 17400; however, thearticulation driver 17310 can still move relative to the articulationlock 17400 to articulate the end effector 11500. When the articulationlock 17400 is in a fully-locked position, as illustrated in FIG. 119,the articulation lock teeth 17406 are fully engaged with thearticulation driver teeth 17316. In such instances, the proximal anddistal movement of the articulation driver 17310, and the articulationof the end effector 11500, is prevented by the articulation lock 17400.

Further to the above, the surgical instrument 17000 does not include abiasing member configured to move the articulation lock 17400 toward thearticulation driver 17310 other than a closure member, or tube, 17110.The closure tube 17110 is configured to engage the articulation lock17400 and move the articulation lock 17400 from its unlocked position(FIG. 117) to its partially-locked (FIG. 118) and fully-locked positions(FIG. 119). Similar to the above, the closure tube 17110 comprises a cam17118 configured to engage a cam surface defined on the articulationlock 17400, although other arrangements can be used. The closure tube17110 is configured to move the articulation lock 17400 between itsunlocked position and its partially-locked position when the closuretube 17110 is moved distally through a partial closing stroke (PCS)which at least partially closes the end effector 11500. In suchinstances, the end effector 11500 of the surgical instrument 17000 canbe used to grasp the tissue of a patient, for example. The closure tube17110 is configured to move the articulation lock 17400 into itsfully-locked position when the closure tube 17110 is moved distallythrough a full closing stroke (FCS) which completely closes the endeffector 11500. In such instances, the end effector 11500 of thesurgical instrument 17000 can be used to fully clamp the tissue of apatient, for example.

As discussed above, the locking force applied to the articulation driver17310 by the articulation lock 17400 increases as the closure tube 17110is advanced distally. Stated another way, the articulation locking forceis a function of the closure tube 17110 stroke. Further to the above,turning now to FIG. 120, the locking force between the articulationdriver 17310 and the articulation lock 17400 is represented by line17101. As illustrated in FIG. 120, the articulation lock teeth 17406become initially engaged with the articulation driver teeth 17316 duringthe partial closure stroke. In at least one instance, such initialengagement of the teeth 17406 and 17316 occurs after approximately0.050″ of closure stroke of the closure tube 17110, although anysuitable distance can be used. Notably, such initial engagement of theteeth 17406 and 17316 does not necessarily coincide with the end of thepartial closing stroke; rather, it can occur at some point during thepartial closure stroke (PCS). It also occurs at some point during thefull closure stroke (FCS). Such an initial engagement, however, does notcomprise a locking force couple. Instead, a locking force couple betweenthe teeth 17406 and 17316 is only established at some during the fullclosing stroke (FCS). In at least one instance, the full closing stroke(FCS) has a length of approximately 0.260″, for example.

A surgical instrument 18000 is illustrated in FIGS. 121-123 and issimilar to the surgical instruments 11000 and 17000 in many respects,most of which will not be repeated herein for the sake of brevity. Thesurgical instrument 18000 comprises a shaft, an end effector 11500rotatably connected to the shaft about an articulation joint, and anarticulation system configured to articulate the end effector 11500. Theshaft comprises a frame 18180 including first and second longitudinalracks of teeth 18186 which are parallel, or at least substantiallyparallel, to one another, although the racks of teeth 18186 can extendtransversely to one another. The surgical instrument 18000 furthercomprises an articulation lock 18400 and a closure member including acam 18118. The articulation lock 18400 includes a first lock arm 18410configured to engage the first longitudinal rack of teeth 18186 and asecond lock arm 18420 configured to engage the second longitudinal rackof teeth 18186. Referring primarily to FIGS. 122 and 123, the first lockarm 18410 comprises a first cam surface 18415 defined thereon and thesecond lock arm 18420 comprises a second cam surface 18425 definedthereon which are configured to be contacted by the cam 18118 during aclosure stroke of the closure member and displaced or flexed outwardlyinto a fully-locked engagement with the longitudinal racks of teeth18186. Moreover, one or both of the lock arms 18410 and 18420 alsoengage the articulation system to lock the end effector 11500 in placewhen the lock arms 18410 and 18420 are displaced outwardly intoengagement with the shaft frame 18180.

Once displaced or flexed into their fully-locked states, the lock arms18410 and 18420 define a longitudinal slot 18430 there between which isconfigured to permit the cam 18118 to pass thereby during the remainderof the closure stroke, for example. Moreover, in such instances, the cam18118 wedges the articulation lock 18400 into engagement with the frame18180 and securely holds the lock arms 18410 and 18420 in theirfully-locked positions.

In at least one alternative embodiment, further to the above, the firstlock arm 18410 of the articulation lock 18400 can be configured toengage the shaft frame 18180 of the surgical instrument 18000 while thesecond lock arm 18420 of the articulation lock 18400 can be configuredto engage the articulation system of the surgical instrument 18000.

A surgical instrument 19000 is illustrated in FIGS. 124-128 and issimilar to the surgical instrument 11000 in many respects, most of whichwill not be repeated herein for the sake of brevity. The surgicalinstrument 19000 comprises a shaft 19100 including a closure member19110, an end effector 11500 rotatably connected to the shaft 19100about an articulation joint 11200, and an articulation drive system19300 including an articulation driver 19310 configured to articulatethe end effector 11500 about the articulation joint 11200. Referringprimarily to FIG. 124, the surgical instrument 19000 further comprisesan articulation lock 19400 configured to selectively engage thearticulation drive system 19300 and lock the end effector 11500 inposition. The shaft 19100 further comprises a frame 19180 and thearticulation lock 19400 is movably mounted to the frame 19180 between anunlocked position (FIG. 124), a partially-locked position (FIG. 126),and a locked position (FIG. 127). As described in greater detail below,the articulation lock 19400 is movable laterally toward the articulationdriver 19310 to bring the articulation lock 19400 into closeapproximation with the articulation driver 19310 (FIG. 126) and, also,transversely into interference with the articulation driver 19310 (FIG.127).

Further to the above, the shaft frame 19180 comprises a proximal guidepost 19182 and a distal guide post 19184. The proximal guide post 19182extends into a lateral elongate slot defined in a proximal end 19402 ofthe articulation lock 19400 and, similarly, the distal guide post 19184extends into a lateral elongate slot defined in a distal end 19404 ofthe articulation lock 19400. The lateral elongate slots permit thearticulation lock 19400 to move laterally toward and away from thearticulation driver 19310, as outlined above. The lateral elongate slotsalso define the lateral path of the articulation lock 19400 and prevent,or at least substantially prevent, longitudinal movement of thearticulation lock 19400 relative to the shaft frame 19180. As a result,the elongate slots of the articulation lock 19400 can guide thearticulation lock 19400 between an unlocked position (FIG. 124) in whichthe lock teeth 19406 of the articulation lock 19400 are not engaged witha longitudinal rack of teeth 19316 defined on the articulation driver19310, a partially-locked position (FIG. 126) in which the lock teeth19406 are partially engaged with the teeth 19316, and a fully-lockedposition (FIG. 127) in which the lock teeth 19406 are fully engaged withthe teeth 19316.

Further to the above, the articulation lock 19400 further comprises alongitudinal cam slot 19408 defined therein and the closure member 19110comprises a cam pin 19188 positioned in the cam slot 19408. When theclosure member 19110 is in an unactuated, or open, position (FIG. 124),the cam pin 19188 is positioned in a proximal portion 19408 a of the camslot 19408. When the closure member 19110 is moved distally into apartially-actuated, or partially-closed, position, as illustrated inFIG. 125, the cam pin 19188 is moved into a central portion 19408 b ofthe cam slot 19408. In such instances, the cam pin 19188 displaces thearticulation lock 19400 toward the articulation driver 19310. In suchinstances, however, the teeth 19406 of the articulation lock 19400 maynot be engaged with the teeth 19316 of the articulation driver 19310and, as a result, the articulation driver 19310 can still be moved toarticulate the end effector 11500 relative to the shaft 19100. As aresult, the end effector 11500 can be articulated when the closurestroke of the closure member 19110 has only been partially completed.

When the closure member 19110 is moved further distally, as illustratedin FIG. 126, the cam pin 19188 is moved into a distal portion 19408 c ofthe cam slot 19408. In such instances, the cam pin 19188 displaces thearticulation lock 19400 into close approximation with the articulationdriver 19310 and into partial intermeshment with the teeth 19316 of thearticulation driver 19310. That said, such partial intermeshment betweenthe teeth 19406 and 19316 can only resist a certain amount of forcetransmitted through the articulation driver 19310 and such resistancecan be overcome to move the articulation driver 19310 relative to thearticulation lock 19400 and articulate the end effector 11500.

Further to the above, the articulation lock 19400 is not transverselylifted or lowered relative to the shaft frame 19180 during the partialclosure stroke of the closure member 19110 (FIGS. 124-126). Rather, thearticulation lock 19400 is lifted upwardly such that teeth 19406 of thearticulation lock 19400 fully engage the teeth 19316 of the articulationdriver 19310 and lock the articulation driver 19310 in position duringthe final or last portion of the closure stroke of the closure member19110, as illustrated in FIG. 127. The articulation lock 19400 is movedupwardly by a different cam pin extending from the closure member 19110,i.e., cam pin 19189 which engages the articulation lock 19400 at the endof the closure stroke of the closure member 19110. Notably, the cam pin19189 is not engaged with the articulation lock 19400 at the beginningof the closure stroke or during the partial closure stroke of theclosure member 19110. At most, the cam pin 19189 may slidingly touch thebottom of the articulation lock 19400 during the partial closure stroke.That said, referring primarily to FIG. 128, the articulation lock 19400comprises a cut-out, or recess, 19409 defined therein which providesclearance between the cam pin 19189 and the articulation lock 19400during the partial closure stroke. That said, the cam pin 19189 comesinto contact with the articulation lock 19400 when the cam pin 19189reaches the end of the recess 19409 and, in such instances, drives thearticulation lock 19400 transversely upwardly such that the lock teeth19406 interferingly engage with the teeth 19316 of the articulationdriver 19310 and the articulation lock 19400 is placed in itsfully-locked position, as illustrated in FIG. 127. At such point, thearticulation driver 19310 is locked in position and cannot be movedlongitudinally to articulate the end effector 11500.

Referring again to FIG. 128, the teeth 19316 of the articulation driver19310 are angled, or tilted, relative to the longitudinal axis of theshaft 19100. The lock teeth 19406 of the articulation lock 19400 are notangled, or are angled at a different orientation than the teeth 19316.As a result, the lock teeth 19406 of the articulation lock 19400 can bepartially engaged with the teeth 19316 of the articulation driver 19310when the articulation lock 19400 is in its lowered position (FIG. 126)and fully engaged with the teeth 19316 when the articulation lock 19400is in its raised position (FIG. 127).

In order to unlock the articulation system 19300 of the surgicalinstrument 19000, the closure member 19110 must be retracted todisengage the cam pin 19189 from the articulation lock 19400 so that thearticulation lock 19400 can return to its lowered position. Once the campin 19189 has been disengaged from the articulation lock 19400, theproximal retraction of the cam pin 19188 can drive the articulation lock19400 downwardly as the cam pin 19188 is pulled proximally through camslot 19408. Moreover, the cam pin 19188 can displace the articulationlock 19400 away from the articulation driver 19310 when it is pulledproximally. In various embodiments, the shaft 19110 can comprise one ormore biasing members, such as springs, for example, configured to biasor push the articulation lock 19400 downwardly to quickly reset thearticulation lock to an unlocked position.

A surgical instrument 20000 is illustrated in FIGS. 129-131 and issimilar to the surgical instruments 11000, 17000, 18000, and 19000 inmany respects, most of which will not be repeated herein for the sake ofbrevity. The surgical instrument 20000 comprises a shaft including aclosure tube 20110, an end effector 11500 rotatably mounted to the shaftabout an articulation joint 11200, and an articulation system configuredto articulation the end effector 11500 relative to the shaft. Similar tothe above, the articulation system comprises an articulation link 20320rotatably pinned to the end effector 11500 and, in addition, anarticulation actuator 20310 rotatably pinned to the articulation link20320. In use, the articulation actuator 20310 is moved proximallyand/or distally to drive the articulation link 20320 and articulate theend effector 11500. The surgical instrument 20000 further comprises anarticulation lock system comprising an articulation lock gear 20400rotatably mounted to a frame of the shaft about a fixed axis. Thearticulation lock gear 20400 comprises an annular array of teeth 20406which is meshingly engaged with a longitudinal array of teeth 20316defined on the articulation actuator 20310. As a result, referringgenerally to FIG. 129, the articulation lock gear 20400 will rotate inresponse to the proximal and/or distal movement of the articulationactuator 20310 until the articulation lock gear 20400 is locked inposition by the closure tube 20110, as illustrated in FIG. 131.

Further to the above, the articulation lock system further compriseslock arms 20405 extending from the shaft frame into a central aperturedefined in the articulation lock gear 20400 and, when the closure tube20110 is moved distally during a closure stroke to close the endeffector 11500, a cam, or wedge, 20118 of the closure tube 20110 isconfigured to engage the lock arms 20405 and splay the lock arms 20405outwardly into engagement with the articulation lock gear 20400. Oncethe lock arms 20405 are engaged with the articulation lock gear 20400,the lock arms 20405 can prevent the rotation of the articulation lockgear 20400 and, also, the longitudinal movement of the articulationactuator 20310. In such instances, the lock arms 20405 can prevent, orat least substantially prevent, the articulation of the end effector11500 until the wedge 20118 of the closure tube 20110 is retractedproximally during an opening stroke and the lock arms 20405 resilientlyreturn to their unflexed, or unlocked, configurations.

Further to the above, the articulation system of the surgical instrument20000 can be placed in an unlocked configuration (FIG. 129), apartially-locked configuration (FIG. 130), and a fully-lockedconfiguration (FIG. 131). The articulation system can be placed in itspartially-locked configuration (FIG. 130) when the closure tube 20110 isadvanced distally through a partial closing stroke (PCS). In suchinstances, the end effector 11500 is at least partially closed but canstill be articulated even though the lock arms 20405 may be partiallyengaged with the articulation lock gear 20400. More particularly, thearticulation lock gear 20400 can still rotate despite drag created bythe partial engagement of the lock arms 20405 against the articulationlock gear 20400. In at least one instance, the PCS is approximately0.050″, for example. The articulation system can be placed in itsfully-locked configuration (FIG. 131) when the closure tube 20110 isadvanced distally through a full closure stroke (FCS). In suchinstances, the end effector 11500 is completely closed and cannot bearticulated until the articulation system is returned to itspartially-locked and/or unlocked configurations.

A surgical instrument 21000 is illustrated in FIGS. 132-134 and issimilar to the surgical instruments 11000, 17000, 18000, 19000, and20000 in many respects, most of which will not be repeated herein forthe sake of brevity. The surgical instrument 21000 comprises a shaftincluding a closure member 21110, an end effector 11500 rotatablymounted to the shaft about an articulation joint 11200, and anarticulation system including an articulation actuator 21130 configuredto articulate the end effector 11500 relative to the shaft. The surgicalinstrument 21000 further comprises an articulation lock systemcomprising an articulation lock gear 21400 rotatably mounted to a frameof the shaft about a fixed axis. The articulation lock gear 21400comprises an annular array of teeth 21406 which is meshingly engagedwith a longitudinal array of teeth 21316 defined on the articulationactuator 21310. As a result, referring generally to FIG. 132, thearticulation lock gear 21400 rotates in response to the proximal and/ordistal longitudinal movement of the articulation actuator 21310 until,as described in greater detail below, the articulation lock gear 21400is locked in position by the closure member 21110 (FIG. 134).

Further to the above, the articulation lock system of the surgicalinstrument 21000 further comprises a movable lock element 21405 which isslidably mounted to the shaft frame. More specifically, referringprimarily to FIG. 132, the lock element 21405 comprises a guideprojection 21402 extending therefrom which extends into a lateralelongate slot 21403 defined in the shaft frame which is configured topermit the lock element 21405 to slide laterally toward and/or away fromthe articulation driver 21310. Moreover, referring primarily to FIG.133, the lock element 21405 slides laterally within an aperture definedin the articulation lock gear 21400 between an unlocked position (FIG.132) and a locked position (FIG. 134). The lock element 21405 comprisesan annular array of lock teeth 21407 and the articulation lock gear21400 comprises an annular array of lock teeth 21408 defined around theinner aperture thereof and, when the lock element 21405 is in itsunlocked position (FIG. 132), the lock teeth 21407 of the lock element21405 are not engaged with the lock teeth 21408 of the articulation lockgear 21400. When the lock element 21405 is in its locked position (FIG.134), the lock teeth 21407 of the lock element 21405 are engaged withthe lock teeth 21408 of the articulation lock gear 21400 such that thearticulation lock gear 21400 cannot rotate and, as a result, thearticulation actuator 21300 is prevented from being moved longitudinallyto articulate the end effector 11500.

FIGS. 132-134 illustrate the distal progression of the closure member21110 during a closure stroke. FIG. 132 illustrates the closure member21110 in an unactuated, or open, position. In such a position, theclosure member 21110 is not engaged with the lock element 21405. FIG.133 illustrates the closure member 21110 in a partially closed positionin which the closure member 21110 has at least partially closed the endeffector 11500. In such a position, a cam surface 21115 of the closuremember 21110 has engaged the lock element 21405. In at least oneinstance, the closure member 21110 moves distally approximately 0.050″from its open position (FIG. 132) to its partially closed position (PCP)(FIG. 133). FIG. 134 illustrates the closure member 21110 in a fullyclosed position (FCP) in which the closure member 21110 has completelyclosed the end effector 11500. In such a position, the cam surface 21115has moved by the lock element 21405 and the lock element 21405 has beendisplaced by the full thickness of the closure member 21110.

In view of the above, a surgical instrument can include an articulationlock system configured to prevent the end effector of the surgicalinstrument from being articulated and/or unintentionally back-driven bya load, or torque, applied to the end effector. At least a portion ofthe articulation lock system can be moved into engagement with anarticulation drive system of the surgical instrument to prevent thearticulation of the end effector. In at least one instance, anarticulation lock can be integral to the articulation drive system, asdescribed in greater detail below.

Referring to FIGS. 135-137, a surgical instrument 22000 comprises ashaft and an articulation drive system 22300 which is configured toarticulate an end effector, such as an end effector 11500, for example,of the surgical instrument 22000 relative to the shaft. The articulationdrive system 22300 comprises an articulation driver 22310 and a piniongear 22320. The articulation driver 22310 comprises a longitudinal rackof teeth 22316 defined thereon which is operably meshed with teeth 22326of the pinion gear 22320. When the articulation driver 22310 istranslated distally, the pinion gear 22320 is rotated in a firstdirection. Correspondingly, the pinion gear 22320 is rotated in a seconddirection when the articulation driver 22310 is translated proximally.The pinion gear 22320 comprises a bevel gear 22330 fixedly mountedthereto such that the bevel gear 22330 rotates with the pinion gear22320 about a common axis of rotation. The combined assembly of thepinion gear 22320 and the bevel gear 22330 is rotatably mounted in theshaft of the surgical instrument 22000.

Further to the above, teeth 22336 of the bevel gear 22330 are meshinglyengaged with the teeth 22346 of a bevel gear 22340 which is rotatablymounted about a rotatable threaded articulation lead screw 22350. Morespecifically, the bevel gear 22340 comprises a nut portion whichincludes an at least partially threaded aperture which is threadablyengaged with the articulation lead screw 22350. When the bevel gear22340 is rotated in a first direction by the articulation driver 22310via the bevel gear 22330, the bevel gear 22340 rotates the articulationlad screw 22350 in a first direction. Correspondingly, the bevel gear22340 rotates the articulation lead screw 22350 in a second directionwhen the bevel gear 22340 is rotated in a second direction. Moreover,the end effector 11500 is rotated in a first direction when thearticulation lead screw 22350 is rotated in its first direction and,correspondingly, in a second direction when the threaded articulationdriver shaft 22350 is rotated in its second direction.

Further to the above, the pitch of the threads on the threadedarticulation lead screw 22350 can be selected to prevent back-drivingwithin the articulation drive system 22300. Stated another way, a steeppitch of the threads defined on the articulation lead screw 22350 wouldbe able to resist a force and/or torque transmitted proximally from theend effector 11500 through the articulation drive system 22300 and, as aresult, can prevent the end effector 11500 from being unintentionallyarticulated. As such, the thread pitch can serve as an articulation lockintegral to the articulation drive system 22300. In at least oneinstance, the articulation lead screw comprises an ACME lead screw, forexample.

Referring to FIGS. 138-142, a surgical instrument 23000 comprises ashaft and an articulation drive system 23300 which is configured toarticulate an end effector, such as an end effector 11500, for example,of the surgical instrument 23000 relative to the shaft. The articulationdrive system 23300 comprises an articulation driver 23310 and a piniongear 23320. The articulation driver 23310 comprises a longitudinal rackof teeth 23316 defined thereon which is operably meshed with the teeth23326 of the pinion gear 23320. When the articulation driver 23310 istranslated distally, the pinion gear 23320 is rotated in a firstdirection. Correspondingly, the pinion gear 23320 is rotated in a seconddirection when the articulation driver 23310 is translated proximally.The pinion gear 23320 comprises a worm gear 23330 fixedly mountedthereto such that the worm gear 23330 rotates with the pinion gear 23320about a common axis of rotation. The combined assembly of the piniongear 23320 and the worm gear 23330 is rotatably mounted in the shaft ofthe surgical instrument 23000.

Further to the above, teeth 23336 of the worm gear 23330 are meshinglyengaged with the teeth 23346 of a worm 23340 which is rotatably mountedto the shaft frame. The worm 23340 comprises a pinion gear 23350 fixedlymounted thereto such that the pinion gear 23350 rotates with the worm23340 about a common axis of rotation. The pinion gear 23350 is operablyengaged with a translatable articulation output driver 23360. Morespecifically, the pinion gear 23350 comprises teeth 23356 which aremeshingly engaged with a rack of teeth 23366 defined on the outputdriver 23360. When the worm 23340 is rotated in a first direction by thearticulation driver 23310 via the worm gear 23330, the pinion gear 23350drives the output driver 23360 distally. Correspondingly, the worm 23340and the pinion gear 23350 drive the output driver 23360 proximally whenthe worm 23340 is rotated in a second direction by the worm gear 23330.Moreover, the end effector 11500 is rotated in a first direction whenthe output driver 23350 is driven distally by the articulation drivesystem 23330 and in a second direction when the output driver 23350 isdriven proximally by the articulation drive system 23330.

Further to the above, the pitch of the threads on the worm 23340 can beselected to prevent back-driving within the articulation drive system23300. Stated another way, a steep pitch of the threads defined on theworm 23340, for instance, would be able to resist a force and/or torquetransmitted proximally from the end effector 11500 through thearticulation drive system 23300 and can prevent the end effector 11500from being unintentionally articulated. As such, the thread pitch canserve as an articulation lock integral to the articulation drive system23300.

A surgical instrument 12000, illustrated in FIGS. 95-97B, is similar tothe surgical instrument 11000 in several respects, many of which willnot be repeated herein in the interest of brevity. In addition to ashaft 11100, an end effector 11500, and an articulation joint 11200, thesurgical instrument 12000 further comprises a staple firing system12900, for example, including a firing bar 12910 extending through thearticulation joint 11200. In use, the firing bar 12910 is translatabledistally to perform a staple firing stroke and retractable proximallyafter at least a portion of the staple firing stroke has been completed.The firing bar 12910 extends through a channel, or slot, 11190 definedin the frame 11180 of the shaft 11100 which is configured to closelyreceive and/or guide the firing bar 12910 as the firing bar 12910 movesrelative to the shaft 11100. Similarly, the end effector 11500 comprisesa channel, or slot, 11590 defined in the frame 11580 of the end effector11500 which is also configured to closely receive and/or guide thefiring bar 12910 as the firing bar 12910 moves relative to the endeffector 11500

Further to the above, the channels 11190 and 11590 do not extend intothe articulation joint 11200 and, without more, the firing bar 12910 maybe unsupported within the articulation joint 11200. When the endeffector 11500 is in an unarticulated configuration (FIG. 97), thefiring bar 12910 is unlikely to buckle within the articulation joint11120 during the staple firing stroke—however, the likelihood of thefiring bar 12910 buckling laterally during the staple firing strokeincreases when the end effector 11500 is in an articulated configuration(FIGS. 97A and 97B). To reduce the possibility of such buckling, thesurgical instrument 12000 further comprises a firing bar support 12400configured to support the firing bar 12910. The firing bar support 12400comprises a proximal portion 12410 connected to the shaft frame 11180, adistal portion 12430 connected to the end effector frame 11580, and anintermediate portion 12420 extending between the proximal portion 12410and the distal portion 12430. The portions 12410, 12420, and 12430 ofthe firing bar support 12400 are integrally formed; however, otherembodiments are envisioned in which the portions 12410, 12420, and 12430are assembled to one another and/or comprise separate components.

Further to the above, the distal portion 12430 of the firing bar support12400 is fixedly mounted to the end effector frame 11580 and does notmove, or at least substantially move, relative to the end effector frame11580. The intermediate portion 12420 of the firing bar support 12400comprises one or more portions having a reduced cross-section which,among other things, allows the firing bar support 12400 to flex withinthe articulation joint 11200 when the end effector 11500 is articulated.The proximal portion 12410 of the firing bar support 12400 is slideablymounted to the shaft frame 11180 such that the firing bar support 12400can translate relative to the shaft frame 11180 when the end effector11500 is articulated. That said, the proximal portion 12410 of thefiring bar support 12400 comprises a proximal head 12415 that isslideable within a chamber, or cavity, 11185 defined within the shaftframe 11180 which can limit the travel of the firing bar support 12400.Embodiments are envisioned, however, without such a travel constraint.In any event, the proximal portion 12410, intermediate portion 12420,and distal portion 12430 of the firing bar support 12400 co-operativelydefine a channel, or slot, 12490 which is configured to support thefiring bar 12910—especially within the articulation joint 11200—andreduce the possibility of the firing bar 12910 buckling during thestaple firing stroke, for instance.

In various instances, the firing bar 12910 is comprised of a pluralityof parallel, or at least substantially parallel, layers. The layers areaffixed to a distal cutting member and can partially translate or slidelongitudinally relative to one another—especially within thearticulation joint 11200. Each such layer is configured to transmit aload in the same direction, i.e., proximally or distally, even thoughsuch layers can move, or slide, relative to one another. Further to theabove, such layers may splay laterally relative to oneanother—especially within the articulation joint 11200—when the endeffector 11500 has been articulated. The intermediate portion 12420 ofthe firing bar support 12400 comprises a plurality of connected controlelements which can at least reduce, if not prevent, the relative lateralsplay of the firing bar layers. Alternatively, as mentioned above, oneor more of the control elements can be unconnected to one another.

In addition to or in lieu of the firing bar support 12400, the surgicalinstrument 12000 comprises one or more dividers which separate andcontrol the layers of the firing bar 12910. Referring to FIGS. 97-97B,the shaft 11110 comprises a divider 12920 positioned within the layersof the firing bar 12910. Two layers of the firing bar 12910 arepositioned on one side of the divider 12920 while two layers arepositioned on the other side of the divider 12920, although any suitablearrangement can be used. The divider 12920 prevents half of the layersof the firing bar 12910 from splaying outwardly when the end effector11500 is articulated. Stated another way, the divider 12920 prevents thetwo right-most firing bar layers from splaying to the left when the endeffector 11500 is articulated to the right (FIG. 97A) and, similarly,the divider 12920 prevents the two left-most firing bar layers fromsplaying to the right when the end effector 11500 is articulated to theleft (FIG. 97B). The divider 12920 extends through the articulationjoint 11200 and the firing bar support 12400 and into the end effector11500 and can bend when the end effector 11500 is articulated.Accordingly, in such instances, the divider 12920 is flexible. Thedivider 12920 is mounted to the frame 11180 of the shaft 11110 and doesnot move relative to the frame 11180; however, embodiments areenvisioned in which the divider 12920 is not mounted to the frame 11180and can float within the firing bar layers.

A surgical instrument 13000, illustrated in FIGS. 98-102B, is similar tothe surgical instruments 11000 and 12000 in several respects, many ofwhich will not be repeated herein in the interest of brevity. Inaddition to a shaft 13100, an end effector 13500, and an articulationjoint 11200, the surgical instrument 13000 further comprises a staplefiring system 12900, for example, including a firing bar 12910 extendingthrough the articulation joint 11200. In use, the firing bar 12910 istranslatable distally to perform a staple firing stroke and retractableproximally after at least a portion of the staple firing stroke has beencompleted. Referring primarily to FIGS. 102-102B, the firing bar 12910extends through a channel, or slot, 13190 defined in the frame 13180 ofthe shaft 13100 which is configured to closely receive and/or guide thefiring bar 12190 as the firing bar 12910 moves relative to the shaft11100. Similarly, the end effector 13500 comprises a channel, or slot,defined in the frame 13580 of the end effector 13500 which is alsoconfigured to closely receive and/or guide the firing bar 12190 as thefiring bar 12910 moves relative to the end effector 13500

When the end effector 13500 is in an unarticulated configuration (FIG.102), further to the above, the firing bar 12910 is unlikely to bucklewithin the articulation joint 11120 during the staple firingstroke—however, the likelihood of the firing bar 12910 bucklinglaterally during the staple firing stroke increases when the endeffector 13500 is in an articulated configuration (FIGS. 102A and 102B).To reduce the possibility of such buckling, the surgical instrument13000 further comprises a firing bar support 13400 configured to supportthe firing bar 12190. The firing bar support 13400 comprises a firstlateral plate 13410 and a second lateral plate 13420. The lateral plates13410 and 13420 are positioned on opposite sides of the firing bar12910. Each lateral plate 13410, 13420 comprises a proximal portionconnected to the shaft frame 13180, a distal portion connected to theend effector frame 13580, and an intermediate portion extending betweenthe proximal portion and the distal portion. The portions of each plate13410, 13420 are integrally formed; however, other embodiments areenvisioned in which the portions are assembled to one another and/orcomprise separate components.

Further to the above, the first lateral plate 13410 comprises a distalportion 13416 which is fixedly mounted to the end effector frame 13580and does not move, or at least substantially move, relative to the endeffector frame 13580. Similarly, the second lateral plate 13420comprises a distal portion 13426 which is fixedly mounted to the endeffector frame 13580 and does not move, or at least substantially move,relative to the end effector frame 13580. The first lateral plate 13410comprises a proximal portion 13412 which is slideably mounted to theshaft frame 13180 such that the first lateral plate 13410 can translaterelative to the shaft frame 13180 when the end effector 13500 isarticulated. The proximal portion 13412 comprises a head that isslideable within a chamber, or cavity, 13185 defined within the shaftframe 13180 which can limit the travel of the firing bar support 13400.Similarly, the second lateral plate 13420 comprises a proximal portion13422 which is slideably mounted to the shaft frame 13180 such that thefiring bar support 13400 can translate relative to the shaft frame 13180when the end effector 13500 is articulated. The proximal portion 13422comprises a head that is slideable within the chamber 13185 definedwithin the shaft frame 13180 which can also limit the travel of thefiring bar support 13400.

The first lateral plate 13410 comprises a flexible portion 13414positioned in the articulation joint 11200 which permits the distalportion 13416 of the first lateral plate 13410 to flex relative to theproximal portion 13412 and accommodate the articulation of the endeffector 13500. The flexible portion 13414 extends laterally from thefirst lateral plate 13410 and comprises a hinge including gaps 13413defined therein which permit rotation within the first lateral plate13410. In addition to or in lieu of the above, the first lateral plate13410 comprises longitudinal openings 13415 defined therein which permitthe first lateral plate 13410 to flex within the end effector 13500 andaccommodate the articulation of the end effector 13500. The firstlateral plate 13410 can comprise any suitable number and configurationof openings and/or recesses defined therein at any suitable locationwhich are configured to permit the first lateral plate 13410 to flexduring the articulation of the end effector 13500. Similarly, the secondlateral plate 13412 comprises a flexible portion 13424 positioned in thearticulation joint 11200 which permits the distal portion 13426 of thesecond lateral plate 13420 to flex relative to the proximal portion13422 and accommodate the articulation of the end effector 13500. Theflexible portion 13424 extends laterally from the first lateral plate13420 and comprises a hinge including gaps defined therein which permitrotation within the second lateral plate 13420. In addition to or inlieu of the above, the second lateral plate 13420 comprises longitudinalopenings defined therein which permit the second lateral plate 13420 toflex within the end effector 13500 and accommodate the articulation ofthe end effector 13500. The second lateral plate 13420 can comprise anysuitable number and configuration of openings and/or recesses definedtherein at any suitable location which are configured to permit thesecond lateral plate 13420 to flex during the articulation of the endeffector 13500.

Further to the above, the lateral plates 13410 and 13420 are flexibleand can resiliently return to their unflexed configurations when the endeffector 13500 is returned to its unarticulated configuration. Invarious instances, the lateral plates 13410 and 13420 comprise springswhich resiliently bias the end effector 13500 into its unarticulatedconfiguration.

A firing member 24900 is illustrated in FIGS. 146 and 147 and can beused with any of the surgical stapling instruments disclosed herein. Thefiring member 24900 comprises a firing bar 24910 which, similar to theabove, comprises a plurality of layers. More specifically, the firingbar 24910 comprises two exterior layers 24911 and two interior layers24912. The firing member 24900 further comprises a distal cutting member24920 which includes a tissue cutting edge 24926. The distal cuttingmember 24920 further comprises a first cam 24922 configured to engage afirst jaw of an end effector and a second cam 24924 configured to engagea second jaw of the end effector. That said, embodiments are envisionedin which the distal cutting member 24920 is configured to only engageone jaw of an end effector or, alternatively, neither jaw of an endeffector.

The layers 24911 and 24912 of the firing bar 24910 are welded to thedistal cutting member 24920 at welds 24930. As illustrated in FIG. 147,a first weld 24930 is present on a first side of the firing member 24900and a second weld 24930 is present on a second side of the firing member24900. The first weld 24930 penetrates a first exterior layer 24911 andthe adjacent interior layer 24912. In various instances, the first weld24930 penetrates entirely through the adjacent interior layer 24912and/or also penetrates into the other interior layer 24912. The secondweld 24930 penetrates a second exterior layer 24911 and the adjacentinterior layer 24912. In various instances, the second weld 24930penetrates entirely through the adjacent interior layer 24912 and/oralso penetrates into the other interior layer 24912.

Referring primarily to FIG. 146, each weld 24930 of the firing member24900 comprises a weld line which is configured to securely hold thefiring bar 24910 to the cutting member 24920 and, at the same time,provide a flexible connection there between. Each weld 24930 comprises abutt weld 24931 connecting the cutting member 24920 to the distal endsof the plates 24911 and 24912 and is placed in tension and/orcompression when a longitudinal firing force is transmitted through thefiring member 24900. The butt weld is orthogonal to, or at leastsubstantially orthogonal to, a longitudinal firing axis (FA) of thefiring member 24900. The butt weld 24931 can comprise any suitableconfiguration, such as a square, closed square, single-bevel,double-bevel, single-J, double-J, single-V, double-V, single-U,double-U, flange, flare, and/or tee configuration, for example.

Further to the above, each weld 24930 further comprises a distal hookweld portion 24932 and a proximal hook weld portion 24933. Each hookweld portion 24932 and 24933 comprises a longitudinal portion which isaligned with, or is parallel to, the longitudinal firing axis (FA) ofthe firing member 24900 and is placed in shear when a longitudinalfiring force is transmitted through the firing member 24900. Inaddition, each hook weld portion 24932 and 24933 comprises a buttportion which is orthogonal, or at least substantially orthogonal, tothe longitudinal firing axis (FA) and is placed in tension and/orcompression when a longitudinal firing force is transmitted through thefiring member 24900. Notably, each set of hook weld portions 24932 and24933 comprises an interlocking connection between the firing bar 24910and the cutting member 24920 which can transmit a flow of stress therebetween without failing and/or yielding unsuitably.

Each weld 24930 is generally L-shaped, for example; however, the welds24930 can comprise any suitable configuration.

Although the surgical instruments 10000, 11000, 12000, 13000, 14000,15000, 16000, 17000, 18000, 19000, 20000, 21000, 22000, and 23000 aresurgical staplers, their designs can be readily adapted to othersurgical instruments having articulatable end effectors, among others.Such other surgical instruments can include, for example, clip appliers,fastener appliers, and/or surgical instruments capable of deliveringelectrical and/or vibrational energy to tissue.

FIG. 149 depicts a surgical staple cartridge 25100 comprising anelongate nose 25150 located at a distal end thereof, generally denotedas 25102. The elongate nose 25150 has a base 25152 that is defined by afirst length 25154 extending a distance between the end of the stapleline 25056 and a distal tip 25142 of the staple cartridge 25100. Thedistal tip 25142 is formed at an angle σ from the base 25152 of thestaple cartridge 25100. The distal tip 25142 on the staple cartridge25100 is pointed and configured to serve as a parking area for a wedgesled, not shown, of the firing system upon the completion of a staplefiring stroke.

In an effort to shorten the overall length of the staple cartridgewithout sacrificing length of stapled tissue, the surgical staplecartridge 25200 depicted in FIG. 148 comprises a cartridge body 25210including a shortened nose 25250 located at a distal end thereof,generally denoted as 25202. The shortened nose 25250 has a base 25252that is defined by a second length 25254 extending a distance betweenthe end of the staple line 25056 and a blunted distal tip 25242 of thestaple cartridge 25200. The second length 25254 of the shortened nose25250 is minimized by blunting the parking area for the wedge sled 25270(See FIG. 152). While the blunt, shortened nose 25250 of the staplecartridge 25200 in FIG. 148 still provides a parking area for the wedgesled, additional accommodations for storage may have to be made, as willbe discussed below. The blunted distal tip 25242 is formed at an angle γfrom the base 25252 of the staple cartridge 25200.

Upon comparing the staple cartridges 25200 and 25100 depicted in FIGS.148 and 149, respectively, the reader should recognize that the secondlength 25254 is shorter than the first length 25154. As a result, thelength of the staple cartridge 25200 beyond the end of the staple line25056 is minimized to allow for improved spatial access within asurgical site, among other things. The shortened nose 25250 alsoprevents the blunted distal tip 25242 from puncturing a seal on a trocarsystem, as discussed further below. Furthermore, one will recognize theangle γ of the blunted distal tip 25242 of the staple cartridge 25200with respect to the base 25252 is greater than the angle σ of thepointed distal tip 25142 of the staple cartridge 25100 with respect tothe base 25152. For example, the blunted distal tip 25242 can extend atan angle of approximately 45-50 degrees with respect to the base 25252of the staple cartridge 25200, while the pointed distal tip 25142 canextend at an angle of approximately 30 degrees with respect to the base25152 of the staple cartridge 25100. The steeper angle of the blunteddistal tip 25242 provides increased stability throughout distal regionsof the structure of the staple cartridge 25200.

FIG. 152 is a plan view of the staple cartridge 25200. The cartridgebody 25210 of the staple cartridge 25200 comprises an elongate slot25230 that extends from a proximal end 25204 of the staple cartridge25200 toward the distal, shortened nose 25250. A plurality of staplecavities 25220 are formed within the cartridge body 25210. Staplecavities 25220 extend between the proximal end 25204 and the distal end25202 of the staple cartridge 25200. The staple cavities 25220 arearranged in six laterally-spaced longitudinal rows 25221, 25222, 25223,25224, 25225, 25226, with three rows on each side of the elongate slot25230. Removably positioned within the staple cavities 25220 are staples25260.

FIG. 150 illustrates one embodiment of a triple staple driver 25240within the staple cartridge 25200 for supporting and driving threestaples 25260. The staple driver 25240 comprises a first driver portion25342, a second driver portion 25344, and a third driver portion 25346.A central base member 25348 connects the first driver portion 25342 andthe third driver portion 25346 to the second driver portion 25344. Thefirst driver portion 25342 is positioned at least partially distal tothe second driver portion 25344. Additionally, the third driver portion25346 is positioned at least partially distal to the second driverportion 25344. A plurality of first staple drivers 25240 are slidablymounted within corresponding staple cavities 25220 from the threelongitudinal rows 25221, 25222, 25223 on one side of the elongate slot25230. In other words, each first staple driver 25240 is configured tosupport three staples 25260: a staple 25260 stored within a staplecavity 25220 in the first longitudinal row 25221; a staple 25260 storedwithin a staple cavity 25220 in the second longitudinal row 25222; and astaple 25260 stored within a staple cavity 25220 in the thirdlongitudinal row 25223. Due to the distal position of the first driverportion 25342 and the third driver portion 25346 relative to the seconddriver portion 25344, the staples 25260 are fired in a reverse arrowconfiguration. As shown in FIG. 152, the last staples 25260 in the firstlongitudinal row 25221 and the third longitudinal row 25223 are closerto the shortened nose 25250 of the staple cartridge 25200 than the laststaple 25260 in the second longitudinal row 25222.

On the other side of the elongate slot 25230, a plurality of secondstaple drivers are mounted within corresponding staple cavities 25220 inthe three longitudinal rows 25224, 25225, 25226. Similar to the stapledriver 25240, the second staple drivers each comprise a first driverportion 25342, a second driver portion 25344, and a third driver portion25346. A central base member 25348 connects the first driver portion25342 and the third driver portion 25346 to the second driver portion25344. The first driver portion 25342 is positioned at least partiallydistal to the second driver portion 25344. Additionally, the thirddriver portion 25346 is positioned at least partially distal to thesecond driver portion 25344. As the staple driver 25240 above, eachsecond staple driver is configured to support three staples 25260: astaple 25260 stored within a staple cavity 25220 in the fourthlongitudinal row 25224, a staple 25260 stored within a staple cavity25220 in the fifth longitudinal row 25225, and a staple 25260 storedwithin a staple cavity 25220 in the sixth longitudinal row 25226. Due tothe distal position of the first driver portion 25342 and the thirddriver portion 25346 relative to the second driver portion 25344, thestaples 25260 are fired in a reverse arrow configuration. As shown inFIG. 152, the last staples 25260 in the fourth longitudinal row 25224and the sixth longitudinal row 25226 are closer to the shortened nose25250 of the staple cartridge 25200 than the last staple 25260 in thefifth longitudinal row 25225.

The first driver portion 25342 of the staple driver 25240 has a firstforward support column 25352 and a first rearward support column 25354protruding upward from a first driver portion base. The first forwardsupport column 25352 and the first rearward support column 25354 arespaced from each other and collectively form a first staple cradle forsupporting a staple 25260 in an upright position (i.e., the prongs ofthe staple facing the anvil). Similarly, the second driver portion 25344has a second forward support column 25362 and a second rearward supportcolumn 25364 protruding upward from a second driver portion base. Thesecond forward support column 25362 and the second rearward supportcolumn 25364 are spaced from each other and collectively form a secondstaple cradle for supporting a staple 25260 in an upright position(i.e., the prongs of the staple facing the anvil). The third driverportion 25346 has a third forward support column 25372 and a thirdrearward support column 25374 protruding upward from a third driverportion base. The third forward support column 25372 and the thirdrearward support column 25374 are spaced from each other andcollectively form a third staple cradle for supporting a staple 25260 inan upright position (i.e., the prongs of the staple facing the anvil).

The center of mass of the first and third driver portions 25342, 25346is represented by the dashed line D-D. Similarly, the dashed line P-Prepresents the center of mass of the second driver portion 25344. Thecombined center of mass of the triple staple driver 25240 is representedin FIGS. 150 and 151 as dashed line C-C. As such, staple driver 25240 isless likely to roll forward. Notably, C-C is closer to D-D than P-Pwhich makes the staple driver 25240 very stable.

As discussed above, the central base member 25348 of the staple driver25240, depicted in FIG. 151, attaches the first driver portion 25342 andthe third driver portion 25346 to the second driver portion 25344. Thecentral base member 25348 extends laterally between the proximal ends ofthe first and third rearward support columns 25354, 25374 on the firstand third driver portions 25342, 25346, respectively, and the proximalend of the second forward support column 25362 on the second driverportion 25344. As can be seen in FIG. 153, the central base member 25348has an angled rearwardly facing edge 25349 adapted to be engaged by awedge sled 25270, as will be discussed in further detail below. Due tothe extension of the central base member 25348 between all three driverportions 25342, 25344, 25346, the midpoint of the rearwardly facing edge25349 may be bifurcated into a portion which is closer to the firstportion 25342 and a portion which is closer to the third portion 25346.Such an arrangement can balance moments created during the firing andformation of the staples 25260 stored within the staple cavities 25220.

Referring primarily to FIG. 152, each staple cavity 25220 defined in thecartridge body 25210 of the staple cartridge 25200 comprises a proximalwall 25264 and a distal wall 25262. The reverse arrow orientation formedby the arrangement of the first, second, and third driver portions25342, 25344, 25346 of the triple staple driver 25240 discussed above,reduces forward and/or lateral roll of the staple driver 25240 during astaple firing stroke. In various instances, the distal end of the firstforward support column 25352 and the distal end of the third forwardsupport column 25372 are pushed into the distal walls 25262 of theirrespective staple cavities 25220, which stabilize the driver 25240.Thus, when the sled 25270 (FIG. 152) lifts the staple driver 25240upwardly during the staple firing stroke, two distal walls 25262 of thestaple cavities 25220 provide an opposing force against the forwardsupport columns 25352, 25372, preventing any unwanted movement orrolling of the staple driver 25240.

As illustrated in FIGS. 150-153, the elongate slot 25230 of the staplecartridge 25200 is configured to receive a portion of a firing assembly25280. The firing assembly 25280 is configured to push the sled 25270distally to eject the staples 25260 stored within the staple cavities25220 and deform the staples 25260 against an anvil positioned oppositethe staple cartridge 25200. More specifically, a coupling member 25282pushes the wedge sled 25270 of the staple cartridge 25200 distally. Thewedge sled 25270 has four rails, two inner rails 25272 and two outerrails 25274 which are connected to each other by a central member 25276.One inner rail 25272 and one outer rail 25274 are positioned on one sideof the elongate slot 25230, while the other inner rail 25272 and theother outer rail 26274 are positioned on the opposite side of theelongate slot 25230. When driven distally, the inner rails 25272 passthrough inner channels 25212 defined within the cartridge body 25210 andengage the rearwardly facing edge 25349 of the drivers 25240 supportingthe staples 25260 to cause the firing of the staples toward the anvil.Likewise, the outer rails 25274 pass through outer channels 25214defined within the cartridge body 25210 and engage portions of thedrivers 25240 supporting the staples 25260 to push the staples towardthe anvil. Distal movement of the wedge sled 25270 causes the rails25272, 25274 to make contact with the rearwardly facing edges 25349 ofthe staple drivers 25240, pushing drivers 25240 upwards to eject thestaples 25260 from the staple cartridge 25200 into tissue capturedbetween the staple cartridge 25200 and an opposing anvil. The couplingmember 25282 also comprises a cutting edge 25284 which incises thetissue as the coupling member 25282 is advanced distally to eject thestaples 25260 from the cartridge body 25210.

Referring again to FIG. 150, the positioning of the first, second, andthird driver portions 25342, 25344, 25346 of the staple driver 25240between or adjacent an inner rail 25272 and an outer rail 25274 of thewedge sled 25270 provides increased lateral stability. Two rails, oneinner rail 25272 and one outer rail 25274, straddle the staple driver25240, providing increased support and stability of throughout a firingstroke. In addition to providing enhanced stability to the staple driver25240, another benefit of having a staple driver 25240 spanning acrosstwo rails 25272, 25274 of a wedge sled 25270 is a reduced force requiredto perform a firing stroke. The required force is decreased as there isless deflection and loss within the system. Additionally, the additionaldrive surface provided by the rearwardly facing edge 25349 allows forthe rails 25272, 25274 of the wedge sled 25270 to extend at a steeperangle from the base 25278 of the wedge sled 25270. The steeper angle ofthe wedge sled 25270 allows for an overall decrease in the length of thebase 25278 of the wedge sled 25270, further contributing to thereduction in length of the shortened nose 25250 of the staple cartridge25200. Upon the completion of the staple firing stroke, referring againto FIG. 152, the wedge sled 25270 of the firing assembly 25280 is parkedwithin the shortened nose 25250 of the staple cartridge 25200.

FIG. 152 depicts the wedge sled 25270 of the firing assembly 25280parked in the shortened nose 25250 upon the completion of the staplefiring stroke. The shortened nose 25250 comprises a plurality ofopenings 25292, 25294 at the distal end of the shortened nose 25250 toreceive the four rails 25272, 25274. The shortened nose 25250 furthercomprises an opening 25296 configured to receive the central sled member25276 of the wedge sled 25270. Thus, portions of the rails 25272, 25274and central sled member 25276 of the wedge sled 25270 are exposed at thedistal end 25202 of the staple cartridge 25200. The openings 25292,25294 are continuations of the channels 25212, 25214 within which therails 25272, 25274 of the wedge sled 25270 slidably travel. Two inneropenings 25292 are configured to receive the two inner rails 25272 ofthe wedge sled 25270, while two outer openings 25294 are configured toreceive the two outer rails 25274 of the wedge sled 25270. A centralopening 25296 in the center of the distal portion 25202 of the shortenednose 25250 is configured to receive the central member 25276 of thewedge sled 25270. The openings 25292, 25294, 25296 at the distal end25202 of the shortened nose 25250 allow for the staple firing stroke tobe completed and for the wedge sled 25270 to be parked in a shorteneddistal end.

Referring again to FIG. 152, the staple cartridge 25200 further includesprojections 25262 extending around the proximal and distal ends of thestaple cavities 25220. The projections 25262 in the first longitudinalrow 25221 are shown to be singular, while the projections in the secondand third longitudinal rows 25222, 25223 are shown to be connected. Theprojections 25262 are configured to provide additional support to thestaples 25260 as they are fired upwardly out of their staple cavities25220. Furthermore, the projections 25264 formed on the distalmoststaple cavity 25220 are ramped to control the flow of tissue into theend effector. A more detailed discussion of the projections can be foundin U.S. Patent Application Publication No. 2015/0297228, entitledFASTENER CARTRIDGES INCLUDING EXTENSIONS HAVING DIFFERENTCONFIGURATIONS, filed on Jun. 30, 2014, the entire disclosure of whichis incorporated by reference.

FIG. 154 illustrates some of the advantages gained by using theshortened staple cartridge 25200 from FIG. 148 instead of the elongatestaple cartridge 25100 from FIG. 149. Both staple cartridges aresuitable for various surgical procedures, including, for example, LowAnterior Resection Surgery (LAR). LAR is a common treatment forcolorectal cancer, for example. Such procedures require precisedissection and sealing of tissue deep within the pelvic cavity of apatient. As will be discussed in more detail below, the shortened lengthof the staple cartridge 25200, owing to the shortened nose 25250 in FIG.148, among other things, allows the end effector of the surgicalinstrument to gain greater access to tissue within the pelvic cavity.The reader should understand that the staple cartridges described hereincan be used in various surgical treatments and are not to be limited bythe specific procedures discussed herein.

Further to the above, the short staple cartridge 25200 is part of afirst end effector 25202 on a first surgical instrument 25201 which alsoincludes an anvil 25203. The first surgical instrument 25201 furthercomprises a first shaft 25206 that is rotatably connected to the firstend effector 25202. The first end effector 25202 is articulatable aboutan articulation joint 25208 positioned intermediate the first endeffector 25202 and the first shaft 25206. The first end effector 25202is capable of being articulated to an angle α with respect to the firstshaft 25206. Similarly, the elongate staple cartridge 25100 is part of asecond end effector 25102 on a second surgical instrument 25101 whichalso includes an anvil 25103. Also, the second surgical instrument 25101further comprises a second shaft 25106 that is rotatably connected tothe second end effector 25102. The second end effector 25102 isarticulatable about an articulation joint 25108 positioned intermediatethe second end effector 25102 and the second shaft 25106. The second endeffector 25102 is capable of being articulated to an angle β withrespect to the second shaft 25106.

Further to the above, in use, a clinician inserts the end effector 25202through a cannula, or trocar, and into a patient when the end effector25202 is in its unarticulated condition. Once through the trocar, theend effector 25202 can be articulated as illustrated in FIG. 154. Atsuch point, the shaft 25206 can be moved to position the end effector25202 in the pelvic cavity. Similar steps would be used to position theend effector 25102.

The first end effector 25202 is able to reach a distance X₁ from thepelvic floor within the pelvic cavity during a LAR procedure. The secondend effector 25102 is able to reach a distance X₂ from the pelvic floorwithin the pelvic cavity during a LAR procedure. Distance X₁ is shorterthan distance X₂, allowing the first surgical instrument 25201 to beplaced deeper into the pelvic cavity than the second surgical instrument25101, giving the surgeon the capability to, among other things, target,access, and remove a greater array of diseased tissue from the colon.Additionally, the articulation capabilities of the first surgicalinstrument 25201 allow deeper access to tissue within the surgical sitewhile inflicting minimal trauma to surrounding tissue. The first endeffector 25202 is able to be articulated to a greater degree than thesecond end effector 25102, as β is larger than α. For example, the firstend effector 25202 may be articulated to an angle 115 degrees from thefirst shaft 25206, while the second end effector 25102 may only bearticulated to an angle 135 degrees from the second shaft 25106.

As illustrated in FIG. 154, the staple cartridge 25100 and the anvil25103 of the end effector 25102 have approximately the same length, butthe staple cartridge 25100 is noticeably longer than the anvil 25103.Comparatively, the staple cartridge 25200 and the anvil 25203 of the endeffector 25202 are substantially the same length, if not the samelength. In any event, the difference in length between the staplecartridge 25200 and the anvil 25203 of the end effector 25202, if any,is much smaller than the end effector 25102.

An extreme difference between the distal end of a staple cartridge and adistal end of an anvil can cause damage to a trocar when the endeffector is inserted there through. Referring to FIG. 155, an endeffector 25810 comprises a distal end 25802, an anvil 25820, and astaple cartridge 25830. The staple cartridge 25830 has a blunt,shortened nose 25840 similar to the shortened nose 25250 on the staplecartridge 25200 in FIG. 148. As can be seen in FIGS. 155 and 156, theanvil 25820 has a protective tip 25822 thereon. The protective tip 25822is sized and positioned on the anvil 25820 in a way that causes theanvil 25820 to be shorter in length than the staple cartridge 25830.Thus, the shortened nose 25840 of the staple cartridge 25830 extendsdistally relative to the anvil 25820. The protective tip 25822 may beintegrally formed (molded, machined, etc.) on the distal end 25802 ofthe anvil 25820 or it may comprise a separate piece configured toreceive a complementary portion of the anvil. A more extensivediscussion of protective tips can be found U.S. Patent ApplicationPublication No. 2008/0169328, entitled IMPROVED BUTTRESS MATERIAL FORUSE WITH A SURGICAL STAPLER, the entire disclosure of which is herebyincorporated by reference in its entirety.

As can be seen in FIGS. 155 and 156, the protective tip 25822 of theanvil 25820 has a first curved, or angled, outer surface 25824 and asecond curved, or angled, outer surface 25826 configured to form astubby distal end on the anvil 25820. The first angled outer surface25824 extends downwardly from a top surface 25828 of the anvil 25820 ata first angle ϕ. The second angled outer surface 25826 extendsdownwardly from the first angled outer surface 25824 toward the staplecartridge 25830 at a second angle θ. The second angle θ is greater thanthe first angle ϕ. Various embodiments are envisions in which angle θ isapproximately 90 degrees, for example. Other embodiments of theprotective tip 25822 are envisioned having only one of either a firstangled outer surface 25824 or a second angled outer surface 25826. Thefirst angled outer surface 25824 serves to deflect a centering ring of atrocar seal assembly during the insertion of the end effector 25810through the trocar. When the second angle θ gets farther from 90degrees, and/or when the first and second curved outer surfaces 25824,25826 are not continuous, the anvil 25820 might pierce through a trocarseal or can displace the centering ring of a trocar seal system, as willbe discussed in greater detail below.

A protective tip can be attached to an anvil in any suitable manner.FIGS. 157-162 illustrate exemplary embodiments of separately formedprotective tips 25922, 26022, and various methods for their attachmentto an anvil. As depicted in FIGS. 157-159, a distal portion of an anvil25920 comprises an attachment feature including attachment members25927, 25929 which are configured to retainingly mate with complementaryretention channels 25926, 25928 formed in the protective tip 25922. Morespecifically, a central retention channel 25928 is formed within theprotective tip 25922 to receive a central attachment member 25929 of theanvil 25920. A pair of side retention channels 25296 is formed withinthe protective tip 25922 to receive a pair of corresponding sideattachment members 25927 on the anvil 25920. FIG. 159 is across-sectional view of the anvil 25920 of FIG. 157 taken along the line159-159 in FIG. 158 in a disassembled configuration showing thealignment of the retention channels 25926, 25928 with their respectiveattachment members 25927, 25929. An elongate slot 25994 extendslongitudinally from the proximal end 25904 of the anvil 25920 toward thedistal end 25902 of the anvil 25920. The elongate slot 25994 isconfigured to receive a portion of the firing assembly discussed herein.

In addition, or in the alternative, to the above, the protective tip25922 may be secured to the anvil 25920 using rivets 25924. As shown inFIG. 159, a through-hole 25925 extends through the central retentionchannel 25928 of the protective tip 25922. A through-hole 25925 alsoextends through the central attachment member 25929 of the anvil 25920so that when the protective tip 25922 is attached to the anvil 25920,the through-holes 25925 line up to facilitate the insertion of a rivet25924 therein. FIG. 158 is a cross-sectional view of the anvil 25920 ofFIG. 157 taken along line 158-158 in FIG. 157 in a disassembledconfiguration illustrating a rivet assembly for removably affixing theprotective tip 25922 to the anvil 25920. In addition, or in thealternative, to the above, the protective tip 25922 may be affixed tothe anvil 25920 by adhesives such as, for example, cyanoacrylates,light-curable acrylics, polyurethanes, silicones, epoxies, and/orultra-violet curable adhesives such as HENKEL LOCTITE®. In any event, acombination of attachment members and retention channels may be providedon the anvil 25920 and the protective tip 25922. Still other forms ofattachments and attachment arrangements may be used to affix theprotective tip 25922 to the anvil 25920.

FIGS. 160-162 illustrate another embodiment of a tip attachmentarrangement. A distal portion of an anvil 26020 comprises attachmentmembers 26027 configured to retainingly mate with complementaryretention channels 26026 defined in the protective tip 26022. Inaddition, a central retention channel 26028 defined within theprotective tip 26022 is configured to receive a central attachmentmember 26029 of the anvil 26020. FIG. 161 is a cross-sectional view ofthe anvil 26020 of FIG. 160 taken along the line 161-161 in FIG. 160 ina disassembled configuration showing the alignment of the retentionchannels 26026, 26028 with their respective attachment members 26027,26029. FIG. 162 is a cross-sectional view of the anvil 26020 of FIG. 160taken along the line 162-162 in FIG. 160 in an assembled configuration.The protective tip 26022 is secured to the anvil 26020 using acompression fit. The central attachment member 26029 is press-fit intothe central retention channel 26028, remaining in place due to thegeometry of the central retention channel 26028. The central attachmentmember 26029 of the anvil 26020 in FIG. 161 has a trapezoidal shape thatis mimicked by the central retention channel 26028. An elongate slot26094 extends longitudinally from a proximal end 26004 of the anvil26020 toward the distal end 26002 of the anvil 26020. The elongate slot26094 is configured to receive a portion of the firing assemblydiscussed herein.

In addition, or in the alternative, to the above, the protective tip26022 may be affixed to the anvil 26020 by adhesives such as, forexample, cyanoacrylates, light-curable acrylics, polyurethanes,silicones, epoxies, and/or ultra-violet curable adhesives such as HENKELLOCTITE®, for example. In various embodiments, a combination ofattachment members and retention channels may be provided on the anvil26020 and the protective tip 26022. Still other forms of attachments andattachment arrangements may be used to affix the protective tip 26022 tothe anvil 26020. FIGS. 160-162 further illustrate means for assisting auser in attaching the protective tip 26022 to the anvil 26020. FIG. 160illustrates the protective tip 26022 removably positioned within atemporary holder 26030. In order to releasably affix the protective tip26022 to the anvil 26020, the user presses the temporary holder 26030and the anvil 26020 together. The temporary holder 26030 may provide anadditional sterilization barrier to the protective tip 26022 while theprotective tip 26022 is affixed to the anvil 26020. Furthermore, thetemporary holder 26030 provides the user with an object that is moresubstantial to hold onto while attaching the protective tip 26022 to theanvil 26020, as the protective tip 26022 may be small in size. It isenvisioned that the temporary holder 26030 can be used across variousembodiments of protective tips, including the other embodimentsdisclosed herein.

Various protective anvil tips have been described and depicted herein asbeing used in connection with a linear end effector. Those of ordinaryskill in the art will readily appreciate, however, that the protectiveanvil tips described herein may be used in connection with a variety ofdifferent end effector configurations such as curved end effectors andother types of end effectors without departing from the spirit and scopeof the present disclosure. Thus, the protective tip described aboveshould not be limited solely to use in connection with linear endeffectors and/or staplers.

FIGS. 163-169 illustrate an exemplary practical application of thevarious end effectors described herein when they are inserted through atrocar seal system prior to being introduced into a surgical site. Thetrocar seal system 27040 of FIGS. 163-169 comprises a housing 27042configured to support a floating seal assembly 27050 and a centralopening 27044 configured to receive a surgical instrument. The floatingseal assembly 27050 comprises a first seal door 27052 and a second sealdoor 27054 that work together to prohibit gas from escaping from aninsufflated cavity in a patient during a surgical procedure. Thefloating seal assembly 27050 further comprises a centering ring 27058which is configured to guide a surgical instrument through the centralopening 27044 of the trocar seal system 27040. The floating sealassembly 27050 is attached to the housing 27042 of the trocar sealsystem 27040 through an annular resilient member 27056.

FIG. 163 depicts an end effector 27000 comprising an anvil 27010 and astaple cartridge 27020. The staple cartridge 27020 comprises a blunt,shortened nose 27022, similar to the shortened nose 25250 depicted onthe staple cartridge 25200 in FIG. 148. The distal end 27202 of theanvil 27010 is pointed and does not have a protective tip, such as thatshown in FIG. 155. As can be seen in FIG. 163, the anvil 27010 isshorter in length than the staple cartridge 27020. In other words, theshortened nose 27022 of the staple cartridge 27020 extendslongitudinally beyond the distal end 27002 of the anvil 27010. Prior toinserting the end effector 27000 through the trocar seal system 27040,the first seal door 27052 and the second seal door 27054 extend inwardlyto prevent gas from escaping from the surgical site. FIG. 164 depictsthe end effector 27000 of FIG. 163 partially inserted into the trocarseal system 27040. The shortened nose 27022 of the staple cartridge27020 is the first component of the end effector 27000 to come intocontact with the first and second seal doors 27052, 27054 of the trocarseal system 27040, tilting the floating seal assembly 27050 to one side.Due to its blunt shape, the shortened nose 27022 does not damage thesecond seal door 27054 despite exerting a force on it.

FIG. 165 depicts the end effector 27000 of FIGS. 163 and 164 when theend effector 27000 has been further introduced into the central opening27044 of the trocar seal system 27040. After the initial contact of theshortened staple cartridge nose 27022 with the trocar seal system 27040,the pointed distal end 27002 of the anvil 27010 contacts the first sealdoor 27052 of the trocar seal system 27040. In various instances, thepointed distal end 27002 of the anvil 27010 can rupture the first sealdoor 27052 of the trocar seal system 27040, as the contact between theshortened nose 27022 and the second seal door 27054 has already shiftedthe position of the floating seal assembly 27050 laterally. Asillustrated in FIG. 166, had the distal end 27002 of the anvil 27010comprised a protective tip 27012 similar to the protective tip 25822shown in FIG. 155, the risk of rupturing the first seal door 27052 wouldhave been reduced. The risk of rupture decreases with the use of aprotective tip 27012 on the anvil 27010, as the first seal door 27052will smoothly stretch around the protective tip 27012. Moreover, thesame length of the cartridge and the anvil reduces, or prevents, thepre-shifting of the floating seal assembly.

FIG. 167 depicts an end effector 27100 comprising an anvil 27110 and astaple cartridge 27120. The staple cartridge 27120 comprises a pointy,elongate nose 27122, similar to the elongate nose 25150 depicted on thestaple cartridge 25100 in FIG. 149. The distal end 27102 of the anvil27110 is pointed and does not have a protective tip, such as that shownin FIG. 155. The anvil 27110 is shorter in length than the staplecartridge 27120. In other words, the elongate nose 27122 of the staplecartridge 27120 extends longitudinally beyond the distal end 27102 ofthe anvil 27110. Prior to the insertion the end effector 27100 throughthe trocar seal system 27040, the first seal door 27052 and the secondseal door 27054 of the trocar seal system 27040 extend inwardly toprevent gas from escaping the surgical site. FIG. 168 depicts the endeffector 27100 of FIG. 167 when the end effector 27100 is initiallyinserted into the trocar seal system 27040. The elongate nose 27122 ofthe staple cartridge 27120 is the first component of the end effector27100 to come into contact with the first and second seal doors 27052,27054 of the trocar seal system 27040, tilting, or pre-shifting, thefloating seal assembly 27050 to one side as discussed above.

FIG. 169 depicts the end effector 27100 of FIGS. 167 and 168 when theend effector 27100 has been further introduced into the central opening27044 of the trocar seal system 27040. After the initial contact of theelongate nose 27122 of the staple cartridge 27120, the pointed distalend 27102 of the anvil 27110 contacts the first seal door 27052 of thetrocar seal system 27040. In various instances, the pointed distal end27102 of the anvil 27110 may rupture the first seal door 27052 of thetrocar seal system 27040, as the contact between the elongate nose 27122and the second seal door 27054 displaced the position of the floatingseal assembly 27050.

As discussed herein, a first staple cartridge can comprise a firstcartridge length and a second staple cartridge can comprise a secondcartridge length which is different than the first cartridge length. Invarious instances, an end effector of a surgical stapling instrument cancomprise a cartridge jaw configured to receive the first staplecartridge and, in the alternative, the second staple cartridge. Statedanother way, the cartridge jaw is configured to receive the first staplecartridge and the second staple cartridge, but not at the same time. Thefirst staple cartridge and the second staple cartridge each comprise aproximal end which is aligned with a proximal cartridge jaw datum whenit is positioned in the cartridge jaw. When the first cartridge lengthis longer than the second cartridge length, for instance, the distal endof the first staple cartridge would be positioned further away from theproximal cartridge jaw datum than the distal end of the second staplecartridge. The reader should understand that the second cartridge lengthcan be longer than the first cartridge length in other instances.

Further to the above, the end effector comprises an anvil jaw movablerelative to the cartridge jaw between an open, or unclamped, position,and a closed, or clamped, position. In alternative embodiments, thecartridge jaw is movable relative to the anvil jaw. In either event, theanvil jaw comprises a distal anvil end which is supported by the firststaple cartridge and the second staple cartridge, depending on whichstaple cartridge is positioned in the cartridge jaw. The distal anvilend is supported at a first location on the first cartridge jaw and at asecond location on the second cartridge jaw. In various instances, thefirst location and the second location may not be the same distance fromthe proximal cartridge jaw datum. In some instances, however, they canbe the same distance from the proximal cartridge jaw datum. Moreover, invarious instances, the first location is located a first distance awayfrom the distal end of the first staple cartridge while the secondlocation is located a second, or different, distance away from thedistal end of the second staple cartridge. In use, the tissue of apatient will be positioned between the anvil jaw and the cartridge jawbut, nonetheless, the support locations of the staple cartridges willstill support the anvil jaw, or the clamping load applied by the anviljaw.

In various instances, further to the above, the distal anvil end canextend distally beyond the distal end of the first staple cartridge whenthe end effector is in a clamped configuration and the first staplecartridge is positioned in the cartridge jaw and, similarly, the distalanvil end can extend distally beyond the distal end of the second staplecartridge when the end effector is in a clamped configuration and thesecond staple cartridge is positioned in the cartridge jaw. However,when the first cartridge length is longer than the second cartridgelength, in various instances, the distal anvil tip can extend distallybeyond the distal end of the second staple cartridge but not extenddistally beyond the distal end of the first staple cartridge. In suchinstances, the anvil jaw can be longer than the second staple cartridgewhen the second staple cartridge is positioned in the cartridge jaw butshorter than the first staple cartridge when the first staple cartridgeis positioned in the cartridge jaw. In some instances, the anvil jaw isthe same length as the first staple cartridge or the second staplecartridge.

Further to the above, the anvil jaw will deflect when it is moved intoits clamped position. Owing to the different cartridge lengths of thestaple cartridges, the deflection of the anvil jaw may be differentdepending on which staple cartridge is positioned in the cartridge jaw.As a result, the staple forming gap between the anvil jaw and the stapledrivers of the first cartridge jaw can be different than the stapleforming gap between the anvil jaw and the staple drivers of the secondcartridge jaw. In some instances, the difference in staple forming gapis negligible, and the staples ejected from the first staple cartridgeand the second staple cartridge will be formed to the same, or at leastsuitable, heights and sufficiently staple the tissue captured betweenthe anvil jaw and the cartridge jaw. In such instances, the unformedheight of the staples in the first staple cartridge can be the same asthe unformed height of the staples in the second staple cartridge. Inother instances, the unformed height of the staples in the first staplecartridge is different than the unformed height of the staples in thesecond staple cartridge. In such instances, taller staples can be usedin the first staple cartridge and shorter staples can be used in thesecond staple cartridge, for example, depending on the anticipateddeflection and/or orientation of the anvil jaw when clamped against thefirst and second staple cartridges. In at least one such instance, eachof the staples in the first staple cartridge has an unformed height in afirst unformed height range and each of the staples in the second staplecartridge has an unformed height in a second unformed height range. Insome instances, the first unformed height range is completely differentthan the second unformed height range while, in other instances, thefirst unformed height range partially overlaps the second unformedheight range.

As discussed above, the first staple cartridge and the second staplecartridge are selectively positioned in the cartridge jaw of the endeffector and, further to the above, the cartridge jaw further comprisesa bottom support or surface configured to support the staple cartridgeswhen they are seated in the cartridge jaw. Such a support can comprise avertical datum. In various instances, the first support location on thefirst staple cartridge and the second support location on the secondstaple cartridge, discussed above, are the same vertical distance fromthe vertical datum of the cartridge jaw. The vertical distance ismeasured orthogonally from the vertical datum, but can be measured inany suitable manner. In other instances, the first support location onthe first staple cartridge has a different vertical height than thesecond support location on the second staple cartridge. In suchinstances, the orientation and/or deflection of the anvil jaw when theanvil jaw is in its clamped position can be different as a result of thefirst support location and the second support location having differentvertical heights. Such different vertical heights can occur when thedistal end, or nose, of the first staple cartridge is different than thedistal end of the second staple cartridge, among other reasons.

Many of the surgical instrument systems described herein are motivatedby an electric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In various instances,the surgical instrument systems described herein can be motivated by amanually-operated trigger, for example. In certain instances, the motorsdisclosed herein may comprise a portion or portions of a roboticallycontrolled system. Moreover, any of the end effectors and/or toolassemblies disclosed herein can be utilized with a robotic surgicalinstrument system. U.S. patent application Ser. No. 13/118,241, entitledSURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENTARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example, disclosesseveral examples of a robotic surgical instrument system in greaterdetail.

The surgical instrument systems described herein have been described inconnection with the deployment and deformation of staples; however, theembodiments described herein are not so limited. Various embodiments areenvisioned which deploy fasteners other than staples, such as clamps ortacks, for example. Moreover, various embodiments are envisioned whichutilize any suitable means for sealing tissue. For instance, an endeffector in accordance with various embodiments can comprise electrodesconfigured to heat and seal the tissue. Also, for instance, an endeffector in accordance with certain embodiments can apply vibrationalenergy to seal the tissue.

The entire disclosures of:

-   -   U.S. Pat. No. 5,403,312, entitled ELECTROSURGICAL HEMOSTATIC        DEVICE, which issued on Apr. 4, 1995;    -   U.S. Pat. No. 7,000,818, entitled SURGICAL STAPLING INSTRUMENT        HAVING SEPARATE DISTINCT CLOSING AND FIRING SYSTEMS, which        issued on Feb. 21, 2006;    -   U.S. Pat. No. 7,422,139, entitled MOTOR-DRIVEN SURGICAL CUTTING        AND FASTENING INSTRUMENT WITH TACTILE POSITION FEEDBACK, which        issued on Sep. 9, 2008;    -   U.S. Pat. No. 7,464,849, entitled ELECTRO-MECHANICAL SURGICAL        INSTRUMENT WITH CLOSURE SYSTEM AND ANVIL ALIGNMENT COMPONENTS,        which issued on Dec. 16, 2008;    -   U.S. Pat. No. 7,670,334, entitled SURGICAL INSTRUMENT HAVING AN        ARTICULATING END EFFECTOR, which issued on Mar. 2, 2010;    -   U.S. Pat. No. 7,753,245, entitled SURGICAL STAPLING INSTRUMENTS,        which issued on Jul. 13, 2010;    -   U.S. Pat. No. 8,393,514, entitled SELECTIVELY ORIENTABLE        IMPLANTABLE FASTENER CARTRIDGE, which issued on Mar. 12, 2013;    -   U.S. patent application Ser. No. 11/343,803, entitled SURGICAL        INSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No.        7,845,537;    -   U.S. patent application Ser. No. 12/031,573, entitled SURGICAL        CUTTING AND FASTENING INSTRUMENT HAVING RF ELECTRODES, filed        Feb. 14, 2008;    -   U.S. patent application Ser. No. 12/031,873, entitled END        EFFECTORS FOR A SURGICAL CUTTING AND STAPLING INSTRUMENT, filed        Feb. 15, 2008, now U.S. Pat. No. 7,980,443;    -   U.S. patent application Ser. No. 12/235,782, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT, now U.S. Pat. No.        8,210,411;    -   U.S. patent application Ser. No. 12/249,117, entitled POWERED        SURGICAL CUTTING AND STAPLING APPARATUS WITH MANUALLY        RETRACTABLE FIRING SYSTEM, now U.S. Pat. No. 8,608,045;    -   U.S. patent application Ser. No. 12/647,100, entitled        MOTOR-DRIVEN SURGICAL CUTTING INSTRUMENT WITH ELECTRIC ACTUATOR        DIRECTIONAL CONTROL ASSEMBLY, filed Dec. 24, 2009, now U.S. Pat.        No. 8,220,688;    -   U.S. patent application Ser. No. 12/893,461, entitled STAPLE        CARTRIDGE, filed Sep. 29, 2012, now U.S. Pat. No. 8,733,613;    -   U.S. patent application Ser. No. 13/036,647, entitled SURGICAL        STAPLING INSTRUMENT, filed Feb. 28, 2011, now U.S. Pat. No.        8,561,870;    -   U.S. patent application Ser. No. 13/118,241, entitled SURGICAL        STAPLING INSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT        ARRANGEMENTS, now U.S. Pat. No. 9,072,535;    -   U.S. patent application Ser. No. 13/524,049, entitled        ARTICULATABLE SURGICAL INSTRUMENT COMPRISING A FIRING DRIVE,        filed on Jun. 15, 2012, now U.S. Pat. No. 9,101,358;    -   U.S. patent application Ser. No. 13/800,025, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Pat. No. 9,345,481;    -   U.S. patent application Ser. No. 13/800,067, entitled STAPLE        CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, filed on Mar. 13,        2013, now U.S. Patent Application Publication No. 2014/0263552;    -   U.S. Patent Application Publication No. 2007/0175955, entitled        SURGICAL CUTTING AND FASTENING INSTRUMENT WITH CLOSURE TRIGGER        LOCKING MECHANISM, filed Jan. 31, 2006; and    -   U.S. Patent Application Publication No. 2010/0264194, entitled        SURGICAL STAPLING INSTRUMENT WITH AN ARTICULATABLE END EFFECTOR,        filed Apr. 22, 2010, now U.S. Pat. No. 8,308,040, are hereby        incorporated by reference herein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdo not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A method for articulating an end effector of asurgical instrument including an articulation pivot which rotatablyconnects the end effector to a shaft of the surgical instrument, whereinthe end effector comprises a proximal end, a distal end, and acenterline extending between the proximal end and the distal end,wherein the shaft comprises a closure tube configured to place the endeffector in a clamped configuration, wherein the closure tube comprisesa proximal tube portion, a distal tube portion, and an intermediate linkwhich rotatably connects the distal tube portion to the proximal tubeportion along a link axis, wherein said method comprises the step ofapplying a motivating force to the end effector to rotate the endeffector about the articulation pivot such that the end effectorcenterline and the link axis rotate from a non-parallel relationship toa parallel relationship.
 2. The method of claim 1, wherein the endeffector comprises a staple cartridge including staples removably storedtherein.
 3. The method of claim 1, wherein said method further comprisesthe step of applying another motivating force to the end effector torotate the end effector about the articulation pivot and returning theend effector centerline and the link axis to a non-parallelrelationship.
 4. The method of claim 1, wherein the end effector is inan unarticulated position when the end effector centerline and the linkaxis are in a non-parallel relationship.
 5. The method of claim 4,wherein the end effector is in an articulated position when the endeffector centerline and the link axis are in a parallel relationship. 6.The method of claim 1, further comprising the step of locking the endeffector in position to prevent the end effector from articulatingrelative to the shaft when the closure tube places the end effector inits clamped configuration.
 7. A method for operating an end effector ofa surgical instrument including an articulation pivot which rotatablyconnects the end effector to a shaft of the surgical instrument, whereinthe end effector comprises a proximal end, a distal end, and acenterline extending between the proximal end and the distal end,wherein the shaft comprises a closure tube configured to place the endeffector in a clamped configuration, wherein the closure tube comprisesa proximal tube portion, a distal tube portion, and an intermediate linkwhich rotatably connects the distal tube portion to the proximal tubeportion along a link axis, wherein said method comprises the step ofapplying a motivating force to the end effector to rotate the endeffector about the articulation pivot such that the end effectorcenterline and the link axis rotate from a non-parallel orientation to aparallel orientation.
 8. The method of claim 7, wherein the end effectorcomprises a staple cartridge including staples removably stored therein,and wherein said method further comprises the step of ejecting thestaples from the staple cartridge after said applying step.
 9. Themethod of claim 7, wherein said method further comprises the step ofapplying another motivating force to the end effector to rotate the endeffector about the articulation pivot and returning the end effectorcenterline and the link axis to a non-parallel orientation.
 10. Themethod of claim 7, wherein the end effector is in an unarticulatedposition when the end effector centerline and the link axis are in anon-parallel orientation.
 11. The method of claim 10, wherein the endeffector is in an articulated position when the end effector centerlineand the link axis are in a parallel orientation.
 12. The method of claim7, further comprising the step of locking the end effector in positionto prevent the end effector from articulating relative to the shaft whenthe closure tube places the end effector in its clamped configuration.13. A method for operating an end effector of a surgical instrumentincluding an articulation joint which rotatably connects the endeffector to a shaft of the surgical instrument, wherein the end effectorcomprises a proximal end, a distal end, and a central axis extendingbetween the proximal end and the distal end, wherein the shaft comprisesa closure tube configured to place the end effector in a clampedconfiguration, wherein the closure tube comprises a proximal tubeportion, a distal tube portion, and an intermediate link which isrotatably connected to the distal tube portion about a distal pivot andto the proximal tube portion about a proximal pivot, wherein the distalpivot and the proximal pivot define a link axis, wherein said methodcomprises the step of applying a motivating force to the end effector torotate the end effector about the articulation pivot such that the endeffector central axis and the link axis rotate between a non-parallelalignment and a parallel alignment.
 14. The method of claim 13, whereinthe end effector comprises a staple cartridge including staplesremovably stored therein, and wherein said method further comprises thestep of ejecting the staples from the staple cartridge after saidapplying step.
 15. The method of claim 13, wherein said method furthercomprises the step of applying another motivating force to the endeffector to rotate the end effector about the articulation joint andreturning the end effector central axis and the link axis to anon-parallel alignment.
 16. The method of claim 13, wherein the endeffector is in an unarticulated position when the end effector centralaxis and the link axis are in a non-parallel alignment.
 17. The methodof claim 16, wherein the end effector is in an articulated position whenthe end effector central axis and the link axis are in a parallelalignment.
 18. The method of claim 13, further comprising the step oflocking the end effector in position to prevent the end effector fromarticulating relative to the shaft when the closure tube places the endeffector in its clamped configuration.